diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index f7d7057bfb..a621616877 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -11,7 +11,6 @@
 #include <AP_Mission/AP_Mission.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_RPM/AP_RPM.h>
-#include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Logger/LogStructure.h>
 #include <AP_Motors/AP_Motors.h>
 #include <AP_Rally/AP_Rally.h>
@@ -219,7 +218,6 @@ public:
     void Write_Error(LogErrorSubsystem sub_system,
                      LogErrorCode error_code);
     void Write_GPS(uint8_t instance, uint64_t time_us=0);
-    void Write_RFND(const RangeFinder &rangefinder);
     void Write_IMU();
     void Write_IMUDT(uint64_t time_us, uint8_t imu_mask);
     bool Write_ISBH(uint16_t seqno,
diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index 1e861fa55e..79805db99b 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -10,7 +10,6 @@
 #include <AP_Motors/AP_Motors.h>
 #include <AC_AttitudeControl/AC_AttitudeControl.h>
 #include <AC_AttitudeControl/AC_PosControl.h>
-#include <AP_RangeFinder/RangeFinder_Backend.h>
 #include <AP_RSSI/AP_RSSI.h>
 
 #include "AP_Logger.h"
@@ -176,25 +175,6 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
 }
 
 
-// Write an RFND (rangefinder) packet
-void AP_Logger::Write_RFND(const RangeFinder &rangefinder)
-{
-    AP_RangeFinder_Backend *s0 = rangefinder.get_backend(0);
-    AP_RangeFinder_Backend *s1 = rangefinder.get_backend(1);
-
-    struct log_RFND pkt = {
-        LOG_PACKET_HEADER_INIT((uint8_t)(LOG_RFND_MSG)),
-        time_us       : AP_HAL::micros64(),
-        dist1         : s0 ? s0->distance_cm() : (uint16_t)0,
-        status1       : s0 ? (uint8_t)s0->status() : (uint8_t)0,
-        orient1       : s0 ? s0->orientation() : ROTATION_NONE,
-        dist2         : s1 ? s1->distance_cm() : (uint16_t)0,
-        status2       : s1 ? (uint8_t)s1->status() : (uint8_t)0,
-        orient2       : s1 ? s1->orientation() : ROTATION_NONE,
-    };
-    WriteBlock(&pkt, sizeof(pkt));
-}
-
 // Write an RCIN packet
 void AP_Logger::Write_RCIN(void)
 {