diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 7b49ac2056..43bdbd76c3 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -472,91 +472,6 @@ void set_yaw_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
     }
 }
 
-// calculate modified roll/pitch depending upon optical flow calculated position
-static int32_t
-get_of_roll(int32_t input_roll)
-{
-#if OPTFLOW == ENABLED
-    static float tot_x_cm = 0;      // total distance from target
-    static uint32_t last_of_roll_update = 0;
-    int32_t new_roll = 0;
-    int32_t p,i,d;
-
-    // check if new optflow data available
-    if( optflow.last_update != last_of_roll_update) {
-        last_of_roll_update = optflow.last_update;
-
-        // add new distance moved
-        tot_x_cm += optflow.x_cm;
-
-        // only stop roll if caller isn't modifying roll
-        if( input_roll == 0 && current_loc.alt < 1500) {
-            p = g.pid_optflow_roll.get_p(-tot_x_cm);
-            i = g.pid_optflow_roll.get_i(-tot_x_cm,1.0f);              // we could use the last update time to calculate the time change
-            d = g.pid_optflow_roll.get_d(-tot_x_cm,1.0f);
-            new_roll = p+i+d;
-        }else{
-            g.pid_optflow_roll.reset_I();
-            tot_x_cm = 0;
-            p = 0;              // for logging
-            i = 0;
-            d = 0;
-        }
-        // limit amount of change and maximum angle
-        of_roll = constrain_int32(new_roll, (of_roll-20), (of_roll+20));
-    }
-
-    // limit max angle
-    of_roll = constrain_int32(of_roll, -1000, 1000);
-
-    return input_roll+of_roll;
-#else
-    return input_roll;
-#endif
-}
-
-static int32_t
-get_of_pitch(int32_t input_pitch)
-{
-#if OPTFLOW == ENABLED
-    static float tot_y_cm = 0;  // total distance from target
-    static uint32_t last_of_pitch_update = 0;
-    int32_t new_pitch = 0;
-    int32_t p,i,d;
-
-    // check if new optflow data available
-    if( optflow.last_update != last_of_pitch_update ) {
-        last_of_pitch_update = optflow.last_update;
-
-        // add new distance moved
-        tot_y_cm += optflow.y_cm;
-
-        // only stop roll if caller isn't modifying pitch
-        if( input_pitch == 0 && current_loc.alt < 1500 ) {
-            p = g.pid_optflow_pitch.get_p(tot_y_cm);
-            i = g.pid_optflow_pitch.get_i(tot_y_cm, 1.0f);              // we could use the last update time to calculate the time change
-            d = g.pid_optflow_pitch.get_d(tot_y_cm, 1.0f);
-            new_pitch = p + i + d;
-        }else{
-            tot_y_cm = 0;
-            g.pid_optflow_pitch.reset_I();
-            p = 0;              // for logging
-            i = 0;
-            d = 0;
-        }
-
-        // limit amount of change
-        of_pitch = constrain_int32(new_pitch, (of_pitch-20), (of_pitch+20));
-    }
-
-    // limit max angle
-    of_pitch = constrain_int32(of_pitch, -1000, 1000);
-
-    return input_pitch+of_pitch;
-#else
-    return input_pitch;
-#endif
-}
 
 /*************************************************************
  * yaw controllers