diff --git a/sw/airborne/subsystems/ahrs/dcm/analogimu.h b/sw/airborne/subsystems/ahrs/dcm/analogimu.h
index e3b0b13cea..ce256602fe 100644
--- a/sw/airborne/subsystems/ahrs/dcm/analogimu.h
+++ b/sw/airborne/subsystems/ahrs/dcm/analogimu.h
@@ -37,9 +37,7 @@ extern float imu_pitch_neutral;
 
 //functions
 void analog_imu_init( void );
-void analog_imu_update( void );
 void analog_imu_downlink( void );
-void analogconversion( void );
 void estimator_update_state_analog_imu( void );
 void analog_imu_offset_set( void );
 
diff --git a/sw/airborne/subsystems/ahrs/dcm/analogimu_util.c b/sw/airborne/subsystems/ahrs/dcm/analogimu_util.c
deleted file mode 100644
index dd69f09177..0000000000
--- a/sw/airborne/subsystems/ahrs/dcm/analogimu_util.c
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * $Id: analogimu_util.c $
- *
- * Copyright (C) 2010 Christoph Niemann
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** \file analogimu_util.c
- *  \brief Analog IMU Utilities
- *
- */
-
-#include "mcu_periph/adc.h"
-#include "mcu_periph/uart.h"
-
-#include "std.h"
-#include "subsystems/nav.h"
-#include "estimator.h"
-#include "autopilot.h"
-#include "generated/flight_plan.h"
-#include "generated/airframe.h"
-#include "inter_mcu.h"
-
-#include "analogimu_util.h"
-
-
-uint16_t analog_raw[NB_ADC];
-
-// variables
-/** gyro rate in rad */
-volatile float gyro[G_LAST] = {0.};
-/** gyro rate offset in rad */
-volatile float gyro_to_zero[G_LAST] = {0.};
-/** acceleration in ms2 */
-volatile float accel[ACC_LAST] = {0.};
-/** angle in rad */
-volatile float angle[ANG_LAST] = {0.};
-/** magnet heading \todo heading ? */
-volatile float heading;
-
-void analogimu_delay( void ) {
-  volatile int i,j;
-  for (i=0;i<1000;i++)
-    for (j=0;j<1000;j++);
-}
-
-bool_t  analog_imu_reset( void ) {
- #ifndef ANALOGIMU_ZERO_AVERAGE
-  gyro_to_zero[GO_ROLL] = gyro[G_ROLL];
-  gyro_to_zero[GO_PITCH] = gyro[G_PITCH];
-  gyro_to_zero[GO_YAW] = gyro[G_YAW];
- #else
-  /** temp_value for calculating the average */
-  volatile float gyro_to_zero_temp[G_LAST] = {0.};
-
-  gyro_to_zero_temp[GO_ROLL] = gyro[G_ROLL];
-  gyro_to_zero_temp[GO_PITCH] = gyro[G_PITCH];
-  gyro_to_zero_temp[GO_YAW] = gyro[G_YAW];
-
-  analogimu_delay();
-
-  gyro_to_zero_temp[GO_ROLL] += gyro[G_ROLL];
-  gyro_to_zero_temp[GO_PITCH] += gyro[G_PITCH];
-  gyro_to_zero_temp[GO_YAW] += gyro[G_YAW];
-
-  analogimu_delay();
-
-  gyro_to_zero_temp[GO_ROLL] += gyro[G_ROLL];
-  gyro_to_zero_temp[GO_PITCH] += gyro[G_PITCH];
-  gyro_to_zero_temp[GO_YAW] += gyro[G_YAW];
-
-  gyro_to_zero_temp[GO_ROLL] /= 3;
-  gyro_to_zero_temp[GO_PITCH] /= 3;
-  gyro_to_zero_temp[GO_YAW] /= 3;
-
-  gyro_to_zero[GO_ROLL] = gyro_to_zero_temp[G_ROLL];
-  gyro_to_zero[GO_PITCH] = gyro_to_zero_temp[G_PITCH];
-  gyro_to_zero[GO_YAW] = gyro_to_zero_temp[G_YAW];
- #endif
-  return FALSE;
-}
-
-
diff --git a/sw/airborne/subsystems/ahrs/dcm/analogimu_util.h b/sw/airborne/subsystems/ahrs/dcm/analogimu_util.h
deleted file mode 100644
index cffb67e6f5..0000000000
--- a/sw/airborne/subsystems/ahrs/dcm/analogimu_util.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- * $Id: analogimu_imu.h $
- *
- * Copyright (C) 2010 Christoph Niemann
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** \file analogimu_util.h
- *  \brief Analog IMU Utilities
- *
- */
-
-#ifndef _ANALOGIMU_UTIL_H_
-#define _ANALOGIMU_UTIL_H_
-
-#include "std.h"
-
-// defines
-/** defines for gyro[] indicies */
-enum gyro_idx_t { G_ROLL, G_PITCH, G_YAW, G_LAST };
-/** defines for accel[] indicies */
-enum accel_idx_t { ACC_X, ACC_Y, ACC_Z, ACC_LAST };
-/** defines for stick[] indicies */
-enum stick_idx_t { STICK_ROLL, STICK_PITCH, STICK_YAW, STICK_THRUST,
-		   STICK_SWR, STICK_SWL, STICK_CH6, STICK_CH7, STICK_LAST };
-/** defines for angle[] indicies */
-enum angle_idx_t { ANG_ROLL, ANG_PITCH, ANG_YAW, ANG_LAST };
-/** defines for gyro_to_zero[] indicies */
-enum gyro_to_zero_idx_t { GO_ROLL, GO_PITCH, GO_YAW, GO_LAST };
-
-// variables
-extern volatile float gyro[];
-/** acceleration in ms2 */
-extern volatile float accel[];
-/** angle in rad */
-extern volatile float angle[];
-/** magnet heading \todo heading ? */
-extern volatile float heading;
-/** analog_raw[] analog downlink arry */
-extern uint16_t analog_raw[];
-
-extern volatile float gyro_to_zero[];
-
-extern bool_t analog_imu_reset( void );
-
-void analogimu_delay( void );
-
-
-#endif