diff --git a/EKF/common.h b/EKF/common.h
index e9a36675993..8c4b2d7de90 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -67,7 +67,7 @@ struct gps_message {
 	float epv;		///< GPS vertical position accuracy in m
 	float sacc;		///< GPS speed accuracy in m/s
 	float vel_m_s;		///< GPS ground speed (m/sec)
-	Vector3f vel_ned;	///< GPS ground speed NED - TODO: make Vector3f
+	Vector3f vel_ned;	///< GPS ground speed NED
 	bool vel_ned_valid;	///< GPS ground speed is valid
 	uint8_t nsats;		///< number of satellites used
 	float pdop;		///< position dilution of precision
diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index c3b203bb150..5d5e89c44ac 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -123,21 +123,8 @@ bool EstimatorInterface::checkIfVehicleAtRest(float dt)
 	}
 }
 
-void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt,
-				    float (&delta_ang)[3], float (&delta_vel)[3])
-{
-	imuSample imu_sample_new;
-	imu_sample_new.delta_ang = Vector3f(delta_ang);
-	imu_sample_new.delta_vel = Vector3f(delta_vel);
 
 void EstimatorInterface::setMagData(const magSample &mag_sample)
-	imu_sample_new.delta_ang_dt = delta_ang_dt / 1e6f;
-	imu_sample_new.delta_vel_dt = delta_vel_dt / 1e6f;
-	imu_sample_new.time_us = time_usec;
-
-	setIMUData(imu_sample_new);
-}
-
 {
 	if (!_initialised || _mag_buffer_fail) {
 		return;
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 06a03154b00..c520e2516bb 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -174,8 +174,6 @@ public:
 
 	void setIMUData(const imuSample &imu_sample);
 
-	// legacy interface for compatibility (2018-09-14)
-	void setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float (&delta_ang)[3], float (&delta_vel)[3]);
 
 	void setMagData(const magSample &mag_sample);
 
diff --git a/test/sensor_simulator/mag.cpp b/test/sensor_simulator/mag.cpp
index c5a9744d983..3665feffc95 100644
--- a/test/sensor_simulator/mag.cpp
+++ b/test/sensor_simulator/mag.cpp
@@ -15,9 +15,7 @@ Mag::~Mag()
 
 void Mag::send(uint64_t time)
 {
-	magSample mag_sample;
-	mag_sample.mag = _mag_data;
-	mag_sample.time_us = time;
+	const magSample mag_sample {_mag_data, time};
 	_ekf->setMagData(mag_sample);
 }