diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 88b94073c5..ed813ab7ac 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -542,9 +542,6 @@ public:
         return false;
     }
 
-    // time that the AHRS has been up
-    virtual uint32_t uptime_ms(void) const = 0;
-
     // get the selected ekf type, for allocation decisions
     int8_t get_ekf_type(void) const {
         return _ekf_type;
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index da9428e98a..e4d2801f6b 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1075,14 +1075,3 @@ bool AP_AHRS_DCM::healthy(void) const
     // consider ourselves healthy if there have been no failures for 5 seconds
     return (_last_failure_ms == 0 || AP_HAL::millis() - _last_failure_ms > 5000);
 }
-
-/*
-  return amount of time that AHRS has been up
- */
-uint32_t AP_AHRS_DCM::uptime_ms(void) const
-{
-    if (_last_startup_ms == 0) {
-        return 0;
-    }
-    return AP_HAL::millis() - _last_startup_ms;
-}
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index b4c16d09aa..a9613360d6 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -102,9 +102,6 @@ public:
     // is the AHRS subsystem healthy?
     bool healthy() const override;
 
-    // time that the AHRS has been up
-    uint32_t uptime_ms() const override;
-
 private:
     float _ki;
     float _ki_yaw;