diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 0fba1da29a..48cab13345 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -1804,8 +1804,6 @@ void NavEKF3_core::SelectBodyOdomFusion()
         // start performance timer
         hal.util->perf_begin(_perf_FuseBodyOdom);
 
-        usingWheelSensors = false;
-
         // Fuse data into the main filter
         FuseBodyVel();
 
@@ -1832,7 +1830,6 @@ void NavEKF3_core::SelectBodyOdomFusion()
 
             // This is a hack to enable use of the existing body frame velocity fusion method
             // TODO write a dedicated observation model for wheel encoders
-            usingWheelSensors = true;
             bodyOdmDataDelayed.vel = prevTnb * velNED;
             bodyOdmDataDelayed.body_offset = wheelOdmDataDelayed.hub_offset;
             bodyOdmDataDelayed.velErr = frontend->_wencOdmVelErr;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index e507bbca05..aefe6dd5f1 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -402,7 +402,6 @@ void NavEKF3_core::InitialiseVariables()
     bodyOdmMeasTime_ms = 0;
     bodyVelFusionDelayed = false;
     bodyVelFusionActive = false;
-    usingWheelSensors = false;
     wheelOdmMeasTime_ms = 0;
 
     // yaw sensor fusion
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index c831b84955..12c740f475 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1261,7 +1261,6 @@ private:
 
     // wheel sensor fusion
     uint32_t wheelOdmMeasTime_ms;       // time wheel odometry measurements were accepted for input to the data buffer (msec)
-    bool usingWheelSensors;             // true when the body frame velocity fusion method should take onbservation data from the wheel odometry buffer
     obs_ring_buffer_t<wheel_odm_elements> storedWheelOdm;    // body velocity data buffer
     wheel_odm_elements wheelOdmDataNew;       // Body frame odometry data at the current time horizon
     wheel_odm_elements wheelOdmDataDelayed;   // Body  frame odometry data at the fusion time horizon