diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
index 3d6d590b42..439597e82b 100644
--- a/libraries/AP_Proximity/AP_Proximity.cpp
+++ b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -347,24 +347,6 @@ void AP_Proximity::detect_instance(uint8_t instance)
     }
 }
 
-// get distance in meters in a particular direction in degrees (0 is forward, clockwise)
-// returns true on successful read and places distance in distance
-bool AP_Proximity::get_horizontal_distance(uint8_t instance, float angle_deg, float &distance) const
-{
-    if (!valid_instance(instance)) {
-        return false;
-    }
-    // get distance from backend
-    return drivers[instance]->get_horizontal_distance(angle_deg, distance);
-}
-
-// get distance in meters in a particular direction in degrees (0 is forward, clockwise)
-// returns true on successful read and places distance in distance
-bool AP_Proximity::get_horizontal_distance(float angle_deg, float &distance) const
-{
-    return get_horizontal_distance(primary_instance, angle_deg, distance);
-}
-
 // get distances in 8 directions. used for sending distances to ground station
 bool AP_Proximity::get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const
 {
diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
index a45d0a160f..556716198c 100644
--- a/libraries/AP_Proximity/AP_Proximity.h
+++ b/libraries/AP_Proximity/AP_Proximity.h
@@ -85,11 +85,6 @@ public:
         return num_instances;
     }
 
-    // get distance in meters in a particular direction in degrees (0 is forward, clockwise)
-    // returns true on successful read and places distance in distance
-    bool get_horizontal_distance(uint8_t instance, float angle_deg, float &distance) const;
-    bool get_horizontal_distance(float angle_deg, float &distance) const;
-
     // get distances in PROXIMITY_MAX_DIRECTION directions. used for sending distances to ground station
     bool get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const;
 
diff --git a/libraries/AP_Proximity/AP_Proximity_Backend.cpp b/libraries/AP_Proximity/AP_Proximity_Backend.cpp
index 281e92bce8..132fafe976 100644
--- a/libraries/AP_Proximity/AP_Proximity_Backend.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_Backend.cpp
@@ -33,17 +33,6 @@ AP_Proximity_Backend::AP_Proximity_Backend(AP_Proximity &_frontend, AP_Proximity
     init_boundary();
 }
 
-// get distance in meters in a particular direction in degrees (0 is forward, angles increase in the clockwise direction)
-bool AP_Proximity_Backend::get_horizontal_distance(float angle_deg, float &distance) const
-{
-    const uint8_t sector = convert_angle_to_sector(angle_deg);
-    if (_distance_valid[sector]) {
-        distance = _distance[sector];
-        return true;
-    }
-    return false;
-}
-
 // get distance and angle to closest object (used for pre-arm check)
 //   returns true on success, false if no valid readings
 bool AP_Proximity_Backend::get_closest_object(float& angle_deg, float &distance) const
diff --git a/libraries/AP_Proximity/AP_Proximity_Backend.h b/libraries/AP_Proximity/AP_Proximity_Backend.h
index f0a4024976..47ecc18c0f 100644
--- a/libraries/AP_Proximity/AP_Proximity_Backend.h
+++ b/libraries/AP_Proximity/AP_Proximity_Backend.h
@@ -47,10 +47,6 @@ public:
     // handle mavlink DISTANCE_SENSOR messages
     virtual void handle_msg(const mavlink_message_t &msg) {}
 
-    // get distance in meters in a particular direction in degrees (0 is forward, clockwise)
-    // returns true on successful read and places distance in distance
-    bool get_horizontal_distance(float angle_deg, float &distance) const;
-
     // get boundary points around vehicle for use by avoidance
     //   returns nullptr and sets num_points to zero if no boundary can be returned
     const Vector2f* get_boundary_points(uint16_t& num_points) const;