diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index ab2386e403..bf4f2f0033 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -1034,24 +1034,10 @@ static void load_parameters(void)
         hal.scheduler->panic(PSTR("Bad var table"));
     }
 
-    // change the default for the AHRS_GPS_GAIN for ArduCopter
-    // if it hasn't been set by the user
-    if (!ahrs.gps_gain.load()) {
-        ahrs.gps_gain.set_and_save(1.0);
-    }
     // disable centrifugal force correction, it will be enabled as part of the arming process
     ahrs.set_correct_centrifugal(false);
     hal.util->set_soft_armed(false);
 
-    // setup different AHRS gains for ArduCopter than the default
-    // but allow users to override in their config
-    if (!ahrs._kp.load()) {
-        ahrs._kp.set_and_save(0.1);
-    }
-    if (!ahrs._kp_yaw.load()) {
-        ahrs._kp_yaw.set_and_save(0.1);
-    }
-
     if (!g.format_version.load() ||
         g.format_version != Parameters::k_format_version) {
 
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 267111744e..c296e0b099 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -137,8 +137,8 @@ enum aux_sw_func {
 #define CH6_OPTFLOW_KP                  17  // deprecated -- remove
 #define CH6_OPTFLOW_KI                  18  // deprecated -- remove
 #define CH6_OPTFLOW_KD                  19  // deprecated -- remove
-#define CH6_AHRS_YAW_KP                 30  // ahrs's compass effect on yaw angle (0 = very low, 1 = very high)
-#define CH6_AHRS_KP                     31  // accelerometer effect on roll/pitch angle (0=low)
+#define CH6_AHRS_YAW_KP                 30  // deprecated -- remove
+#define CH6_AHRS_KP                     31  // deprecated -- remove
 #define CH6_INAV_TC                     32  // deprecated -- remove
 #define CH6_DECLINATION                 38  // compass declination in radians
 #define CH6_CIRCLE_RATE                 39  // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 3f6c960b4b..747240c950 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -156,9 +156,6 @@ static bool init_arm_motors(bool arming_from_gcs)
         did_ground_start = true;
     }
 
-    // go back to normal AHRS gains
-    ahrs.set_fast_gains(false);
-
     // enable gps velocity based centrefugal force compensation
     ahrs.set_correct_centrifugal(true);
     hal.util->set_soft_armed(true);
@@ -708,9 +705,6 @@ static void init_disarm_motors()
     // reset the mission
     mission.reset();
 
-    // setup fast AHRS gains to get right attitude
-    ahrs.set_fast_gains(true);
-
     // log disarm to the dataflash
     Log_Write_Event(DATA_DISARMED);
 
diff --git a/ArduCopter/switches.pde b/ArduCopter/switches.pde
index f2a69201f9..131af61da5 100644
--- a/ArduCopter/switches.pde
+++ b/ArduCopter/switches.pde
@@ -575,16 +575,12 @@ static void auto_trim()
         // calculate pitch trim adjustment
         float pitch_trim_adjustment = ToRad((float)g.rc_2.control_in / 4000.0f);
 
-        // make sure accelerometer values impact attitude quickly
-        ahrs.set_fast_gains(true);
-
         // add trim to ahrs object
         // save to eeprom on last iteration
         ahrs.add_trim(roll_trim_adjustment, pitch_trim_adjustment, (auto_trim_counter == 0));
 
         // on last iteration restore leds and accel gains to normal
         if(auto_trim_counter == 0) {
-            ahrs.set_fast_gains(false);
             AP_Notify::flags.save_trim = false;
         }
     }
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 26f8296b6d..b68cedce9a 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -292,9 +292,6 @@ static void startup_ground(bool force_gyro_cal)
         ahrs.reset_gyro_drift();
     }
 
-    // setup fast AHRS gains to get right attitude
-    ahrs.set_fast_gains(true);
-
     // set landed flag
     set_land_complete(true);
     set_land_complete_maybe(true);
diff --git a/ArduCopter/tuning.pde b/ArduCopter/tuning.pde
index d723f736d0..ae857bcb61 100644
--- a/ArduCopter/tuning.pde
+++ b/ArduCopter/tuning.pde
@@ -120,14 +120,6 @@ static void tuning() {
         break;
 #endif
 
-    case CH6_AHRS_YAW_KP:
-        ahrs._kp_yaw.set(tuning_value);
-        break;
-
-    case CH6_AHRS_KP:
-        ahrs._kp.set(tuning_value);
-        break;
-
     case CH6_DECLINATION:
         // set declination to +-20degrees
         compass.set_declination(ToRad((2.0f * g.rc_6.control_in - g.radio_tuning_high)/100.0f), false);     // 2nd parameter is false because we do not want to save to eeprom because this would have a performance impact