diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index e8fa5cd623..c09e349c7c 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -2518,7 +2518,8 @@ bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
 
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
-        return sim.get_mag_offsets(mag_idx, magOffsets);
+        magOffsets.zero();
+        return true;
 #endif
 #if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
index d65b55a5a3..fc5d1ace5a 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -176,19 +176,6 @@ public:
     // This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.
     virtual bool get_vert_pos_rate_D(float &velocity) const = 0;
 
-    // returns the estimated magnetic field offsets in body frame
-    virtual bool get_mag_field_correction(Vector3f &ret) const WARN_IF_UNUSED {
-        return false;
-    }
-
-    virtual bool get_mag_field_NED(Vector3f &vec) const {
-        return false;
-    }
-
-    virtual bool get_mag_offsets(uint8_t mag_idx, Vector3f &magOffsets) const {
-        return false;
-    }
-
     //
     virtual bool set_origin(const Location &loc) {
         return false;
diff --git a/libraries/AP_AHRS/AP_AHRS_SIM.cpp b/libraries/AP_AHRS/AP_AHRS_SIM.cpp
index 4f9b223cdb..82fb6ead98 100644
--- a/libraries/AP_AHRS/AP_AHRS_SIM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_SIM.cpp
@@ -172,13 +172,6 @@ void AP_AHRS_SIM::get_control_limits(float &ekfGndSpdLimit, float &ekfNavVelGain
     ekfNavVelGainScaler = 1.0f;
 }
 
-bool AP_AHRS_SIM::get_mag_offsets(uint8_t mag_idx, Vector3f &magOffsets) const
-{
-    magOffsets.zero();
-
-    return true;
-}
-
 void AP_AHRS_SIM::send_ekf_status_report(GCS_MAVLINK &link) const
 {
 #if HAL_GCS_ENABLED
diff --git a/libraries/AP_AHRS/AP_AHRS_SIM.h b/libraries/AP_AHRS/AP_AHRS_SIM.h
index 924a0d6bea..9fa8506414 100644
--- a/libraries/AP_AHRS/AP_AHRS_SIM.h
+++ b/libraries/AP_AHRS/AP_AHRS_SIM.h
@@ -98,10 +98,6 @@ public:
     // get_filter_status - returns filter status as a series of flags
     bool get_filter_status(nav_filter_status &status) const override;
 
-    // get compass offset estimates
-    // true if offsets are valid
-    bool get_mag_offsets(uint8_t mag_idx, Vector3f &magOffsets) const override;
-
     // relative-origin functions for fallback in AP_InertialNav
     bool get_origin(Location &ret) const override;
     bool get_relative_position_NED_origin(Vector3f &vec) const override;