diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index ff1c8b6868..eeb1713a7b 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -58,9 +58,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Beacon,           &rover.g2.beacon,        update,         50,  200),
     SCHED_TASK_CLASS(AP_Proximity,        &rover.g2.proximity,     update,         50,  200),
     SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100),
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
-    SCHED_TASK_CLASS(AP_VisualOdom,       &rover.g2.visual_odom,   update,         50,  200),
-#endif
     SCHED_TASK_CLASS(AC_Fence,            &rover.g2.fence,         update,         10,  100),
     SCHED_TASK(update_wheel_encoder,   50,    200),
     SCHED_TASK(update_compass,         10,    200),