diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 987c980cf6..bf08a9b19e 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -2934,7 +2934,7 @@ int8_t AP_AHRS::_get_primary_core_index() const
 uint8_t AP_AHRS::_get_primary_accel_index(void) const
 {
     if (ekf_type() != EKFType::NONE) {
-        return get_primary_IMU_index();
+        return _get_primary_IMU_index();
     }
     return AP::ins().get_primary_accel();
 }
@@ -2943,7 +2943,7 @@ uint8_t AP_AHRS::_get_primary_accel_index(void) const
 uint8_t AP_AHRS::_get_primary_gyro_index(void) const
 {
     if (ekf_type() != EKFType::NONE) {
-        return get_primary_IMU_index();
+        return _get_primary_IMU_index();
     }
     return AP::ins().get_primary_gyro();
 }
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 9c1f3033a6..3cdc4074c8 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -727,9 +727,6 @@ private:
     EKFType ekf_type(void) const;
     void update_DCM();
 
-    // get the index of the current primary IMU
-    uint8_t get_primary_IMU_index(void) const { return state.primary_IMU; }
-
     /*
      * home-related state
      */