diff --git a/libraries/AP_Buffer/AP_Buffer.h b/libraries/AP_Buffer/AP_Buffer.h
deleted file mode 100644
index 5426989577..0000000000
--- a/libraries/AP_Buffer/AP_Buffer.h
+++ /dev/null
@@ -1,151 +0,0 @@
-/// @file	AP_Buffer.h
-/// @brief	fifo (queue) buffer template class
-#pragma once
-
-#include <stdint.h>
-
-/// @class      AP_Buffer
-template <class T, uint8_t SIZE>
-class AP_Buffer {
-public:
-    
-    /// Constructor
-    ///
-    AP_Buffer();
-
-    /// clear - removes all elements from the queue
-    ///
-    void clear();
-
-    /// push_back - adds an item to the end of the buffer.
-    /// If the buffer is full, the oldest element (i.e. the element at the begin) is removed
-    /// @param item
-    void push_back( const T &item );
-
-    /// pop_front - removes an element from the beginning of the
-    /// buffer (i.e. the oldest element) and returns it in ret.
-    /// @param ret : the removed element, if exists
-    /// @return : true if successful, false if not
-    bool pop_front(T &ret);
-
-    /// peek - returns a reference to an element of the buffer
-    /// if position isn't valid (i.e. >= size()) 0 is returned
-    /// @param position : index of the element
-    /// "0" is the oldest, size()-1 is the newest
-    /// @return
-    const T& peek(uint8_t position) const;
-
-    T& peek_mutable(uint8_t position);
-
-    /// front - return a reference to the element at the begin of the queue (i.e. the oldest element)
-    /// If the queue is empty, 0 is returned.
-    /// @return : oldest element
-    const T& front() const { return this->peek(0); }
-
-    /// size - returns the number of elements in the queue
-    /// @return
-    uint8_t size() const { return _num_items; }
-
-    /// is_full - return true if the queue is full (i.e. size() == SIZE)
-    /// @return
-    bool is_full() const { return _num_items >= SIZE; }
-
-    /// is_empty - returns true if the queue is empty
-    /// @return
-    bool is_empty() const { return _num_items == 0; }
-
-private:
-    uint8_t     _num_items;             // number of items in the buffer
-    uint8_t     _head;                  // first item in the buffer (will be returned with the next pop_front call)
-    T           _buff[SIZE];            // x values of each point on the curve
-};
-
-// Typedef for convenience - add more as needed
-typedef AP_Buffer<float,5> AP_BufferFloat_Size5;
-typedef AP_Buffer<float,15> AP_BufferFloat_Size15;
-
-template <class T, uint8_t SIZE>
-AP_Buffer<T,SIZE>::AP_Buffer() :
-	_num_items(0), _head(0)
-{
-}
-
-template <class T, uint8_t SIZE>
-void AP_Buffer<T,SIZE>::clear() {
-	// clear the curve
-	_num_items = 0;
-    _head = 0;
-}
-
-template <class T, uint8_t SIZE>
-void AP_Buffer<T,SIZE>::push_back( const T &item )
-{
-    // determine position of new item
-    uint8_t tail = _head + _num_items;
-    if( tail >= SIZE ) {
-        tail -= SIZE;
-    }
-
-    // add item to buffer
-    _buff[tail] = item;
-
-    // increment number of items
-    if( _num_items < SIZE ) {
-        _num_items++;
-    }else{
-        // no room for new items so drop oldest item
-        _head++;
-        if( _head >= SIZE ) {
-            _head = 0;
-        }
-    }
-}
-
-template <class T, uint8_t SIZE>
-bool AP_Buffer<T,SIZE>::pop_front(T &ret)
-{
-    if(_num_items == 0) {
-        // buffer is empty
-        return false;
-    }
-
-    // get next value in buffer
-    ret = _buff[_head];
-
-    // increment to next point
-    _head++;
-    if( _head >= SIZE )
-        _head = 0;
-
-    // reduce number of items
-    _num_items--;
-
-    // success
-    return true;
-}
-
-template <class T, uint8_t SIZE>
-const T& AP_Buffer<T,SIZE>::peek(uint8_t position) const
-{
-    uint8_t j = _head + position;
-
-    // wrap around if necessary
-    if( j >= SIZE )
-        j -= SIZE;
-
-    // return desired value
-    return _buff[j];
-}
-
-template <class T, uint8_t SIZE>
-T& AP_Buffer<T,SIZE>::peek_mutable(uint8_t position)
-{
-    uint8_t j = _head + position;
-
-    // wrap around if necessary
-    if( j >= SIZE )
-        j -= SIZE;
-
-    // return desired value
-    return _buff[j];
-}