diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 93d333749c8..073c577c1f3 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -311,11 +311,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         rover.send_location(chan);
         break;
 
-    case MSG_LOCAL_POSITION:
-        CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);
-        send_local_position(rover.ahrs);
-        break;
-
     case MSG_NAV_CONTROLLER_OUTPUT:
         if (rover.control_mode->is_autopilot_mode()) {
             CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
@@ -358,11 +353,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         send_sensor_offsets(rover.ins, rover.compass, rover.barometer);
         break;
 
-    case MSG_AHRS:
-        CHECK_PAYLOAD_SIZE(AHRS);
-        send_ahrs(rover.ahrs);
-        break;
-
     case MSG_SIMSTATE:
         CHECK_PAYLOAD_SIZE(SIMSTATE);
         rover.send_simstate(chan);