diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 33771a5314..5e3d9b8dee 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -92,7 +92,6 @@
 #include <AP_OpticalFlow.h>     // Optical Flow library
 #include <Filter.h>             // Filter library
 #include <AP_Buffer.h>          // APM FIFO Buffer
-#include <AP_LeadFilter.h>      // GPS Lead filter
 #include <AP_Relay.h>           // APM relay
 #include <AP_Camera.h>          // Photo or video camera
 #include <AP_Mount.h>           // Camera/Antenna mount
@@ -557,17 +556,12 @@ int32_t roll_axis;
 int32_t pitch_axis;
 
 // Filters
-AP_LeadFilter xLeadFilter;      // Long GPS lag filter
-AP_LeadFilter yLeadFilter;      // Lat  GPS lag filter
 #if FRAME_CONFIG == HELI_FRAME
 LowPassFilterFloat rate_roll_filter;    // Rate Roll filter
 LowPassFilterFloat rate_pitch_filter;   // Rate Pitch filter
 // LowPassFilterFloat rate_yaw_filter;     // Rate Yaw filter
 #endif // HELI_FRAME
 
-// Barometer filter
-AverageFilterInt32_Size5 baro_filter;
-
 ////////////////////////////////////////////////////////////////////////////////
 // Circle Mode / Loiter control
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 21e0072f2b..385be8ab77 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -28,7 +28,7 @@ static void init_barometer(void)
 static int32_t read_barometer(void)
 {
     barometer.read();
-    return baro_filter.apply(barometer.get_altitude() * 100.0f);
+    return barometer.get_altitude() * 100.0f;
 }
 
 // return sonar altitude in centimeters