diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 7e6dfbb8dd..0e3517c4d6 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -406,12 +406,6 @@ void Copter::notify_flight_mode() {
     notify.set_flight_mode_str(flightmode->name4());
 }
 
-void Mode::update_navigation()
-{
-    // run autopilot to make high level decisions about control modes
-    run_autopilot();
-}
-
 // get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
 // returns desired angle in centi-degrees
 void Mode::get_pilot_desired_lean_angles(float &roll_out, float &pitch_out, float angle_max, float angle_limit) const
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index dc8e40ca55..7516268029 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -77,8 +77,6 @@ public:
     virtual uint32_t wp_distance() const { return 0; }
     virtual float crosstrack_error() const { return 0.0f;}
 
-    void update_navigation();
-
     int32_t get_alt_above_ground_cm(void);
 
     // pilot input processing
@@ -98,9 +96,6 @@ public:
 
 protected:
 
-    // navigation support functions
-    virtual void run_autopilot() {}
-
     // helper functions
     bool is_disarmed_or_landed() const;
     void zero_throttle_and_relax_ac(bool spool_up = false);
diff --git a/ArduCopter/navigation.cpp b/ArduCopter/navigation.cpp
index 4d209a0788..1cc66f2744 100644
--- a/ArduCopter/navigation.cpp
+++ b/ArduCopter/navigation.cpp
@@ -6,8 +6,6 @@
 void Copter::run_nav_updates(void)
 {
     update_super_simple_bearing(false);
-
-    flightmode->update_navigation();
 }
 
 // distance between vehicle and home in cm