diff --git a/sw/airborne/subsystems/ins.h b/sw/airborne/subsystems/ins.h
index 3509b1412c..cdb15483c8 100644
--- a/sw/airborne/subsystems/ins.h
+++ b/sw/airborne/subsystems/ins.h
@@ -80,21 +80,6 @@ extern void ins_reset_altitude_ref(void);
  */
 extern void ins_reset_utm_zone(struct UtmCoor_f * utm);
 
-/** INS horizontal realign.
- *  This only reset the filter to a given value, but doesn't change the local reference.
- *  Needs to be implemented by each INS algorithm.
- *  @param pos new horizontal position to set
- *  @param speed new horizontal speed to set
- */
-extern void ins_realign_h(struct FloatVect2 pos, struct FloatVect2 speed);
-
-/** INS vertical realign.
- *  This only reset the filter to a given value, but doesn't change the local reference.
- *  Needs to be implemented by each INS algorithm.
- *  @param z new altitude to set
- */
-extern void ins_realign_v(float z);
-
 /** Propagation. Usually integrates the gyro rates to angles.
  *  Reads the global #imu data struct.
  *  Needs to be implemented by each INS algorithm.
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.c b/sw/airborne/subsystems/ins/ins_alt_float.c
index 0499e48b30..493bbec908 100644
--- a/sw/airborne/subsystems/ins/ins_alt_float.c
+++ b/sw/airborne/subsystems/ins/ins_alt_float.c
@@ -142,15 +142,6 @@ void ins_reset_utm_zone(struct UtmCoor_f * utm) {
   stateSetLocalUtmOrigin_f(utm);
 }
 
-void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)), struct FloatVect2 speed __attribute__ ((unused))) {
-}
-
-void ins_realign_v(float z) {
-  ins_impl.alt = z;
-  ins_impl.alt_dot = 0.;
-  alt_kalman_reset();
-}
-
 void ins_propagate(void) {
 }
 
diff --git a/sw/airborne/subsystems/ins/ins_ardrone2.c b/sw/airborne/subsystems/ins/ins_ardrone2.c
index f166152b91..19ede2bab3 100644
--- a/sw/airborne/subsystems/ins/ins_ardrone2.c
+++ b/sw/airborne/subsystems/ins/ins_ardrone2.c
@@ -85,14 +85,6 @@ void ins_reset_altitude_ref( void ) {
 #endif
 }
 
-void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)), struct FloatVect2 speed __attribute__ ((unused))) {
-
-}
-
-void ins_realign_v(float z __attribute__ ((unused))) {
-
-}
-
 void ins_propagate() {
   /* untilt accels and speeds */
   FLOAT_RMAT_VECT3_TRANSP_MUL(ins_impl.ltp_accel, (*stateGetNedToBodyRMat_f()), ahrs_impl.accel);
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c
index 9b64c3699c..09a526c00a 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.c
@@ -327,15 +327,10 @@ void ins_reset_utm_zone(struct UtmCoor_f * utm) {
 }
 #endif
 
-void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)), struct FloatVect2 speed __attribute__ ((unused))) {}
-void ins_realign_v(float z __attribute__ ((unused))) {}
-
-
 void ahrs_init(void) {
   ahrs.status = AHRS_UNINIT;
 }
 
-
 void ahrs_align(void)
 {
   /* Compute an initial orientation from accel and mag directly as quaternion */
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
index 8dbe0d9ac5..af37654828 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
@@ -112,10 +112,3 @@ void ins_update_baro(void) {
 
 void ins_update_sonar(void) {
 }
-
-void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)), struct FloatVect2 speed __attribute__ ((unused))) {
-}
-
-void ins_realign_v(float z __attribute__ ((unused))) {
-}
-
diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index 81b892f3f8..48568e7e94 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -203,22 +203,6 @@ void ins_reset_altitude_ref(void) {
   ins_impl.vf_reset = TRUE;
 }
 
-#if USE_HFF
-void ins_realign_h(struct FloatVect2 pos, struct FloatVect2 speed) {
-  b2_hff_realign(pos, speed);
-  ins_update_from_hff();
-}
-#else
-void ins_realign_h(struct FloatVect2 pos __attribute__ ((unused)),
-                   struct FloatVect2 speed __attribute__ ((unused))) {}
-#endif /* USE_HFF */
-
-
-void ins_realign_v(float z) {
-  vff_realign(z);
-  ins_update_from_vff();
-}
-
 void ins_propagate(void) {
   /* untilt accels */
   struct Int32Vect3 accel_meas_body;