diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 59888ae05e..3b615235fc 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -274,11 +274,6 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
     }
 }
 
-void Rover::send_fence_status(mavlink_channel_t chan)
-{
-    fence_send_mavlink_status(chan);
-}
-
 void Rover::send_wheel_encoder(mavlink_channel_t chan)
 {
     // send wheel encoder data using rpm message
@@ -363,11 +358,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         rover.send_wheel_encoder_distance(chan);
         break;
 
-    case MSG_FENCE_STATUS:
-        CHECK_PAYLOAD_SIZE(FENCE_STATUS);
-        rover.send_fence_status(chan);
-        break;
-
     case MSG_WIND:
         CHECK_PAYLOAD_SIZE(WIND);
         rover.g2.windvane.send_wind(chan);
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 8520330b7a..98f6a43e24 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -436,7 +436,6 @@ private:
 
     // fence.cpp
     void fence_check();
-    void fence_send_mavlink_status(mavlink_channel_t chan);
 
     // GCS_Mavlink.cpp
     void send_sys_status(mavlink_channel_t chan);
@@ -445,7 +444,6 @@ private:
     void send_pid_tuning(mavlink_channel_t chan);
     void send_wheel_encoder(mavlink_channel_t chan);
     void send_wheel_encoder_distance(mavlink_channel_t chan);
-    void send_fence_status(mavlink_channel_t chan);
 
     // Log.cpp
     void Log_Write_Arm_Disarm();
diff --git a/APMrover2/fence.cpp b/APMrover2/fence.cpp
index 74709a690f..a3ee9c96c4 100644
--- a/APMrover2/fence.cpp
+++ b/APMrover2/fence.cpp
@@ -36,23 +36,3 @@ void Rover::fence_check()
         Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_FENCE, ERROR_CODE_ERROR_RESOLVED);
     }
 }
-
-// fence_send_mavlink_status - send fence status to ground station
-void Rover::fence_send_mavlink_status(mavlink_channel_t chan)
-{
-    if (g2.fence.enabled()) {
-        // traslate fence library breach types to mavlink breach types
-        uint8_t mavlink_breach_type = FENCE_BREACH_NONE;
-        const uint8_t breaches = g2.fence.get_breaches();
-        if ((breaches & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) != 0) {
-            mavlink_breach_type = FENCE_BREACH_BOUNDARY;
-        }
-
-        // send status
-        mavlink_msg_fence_status_send(chan,
-                                      static_cast<int8_t>(g2.fence.get_breaches() != 0),
-                                      g2.fence.get_breach_count(),
-                                      mavlink_breach_type,
-                                      g2.fence.get_breach_time());
-    }
-}