diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
index e99e8d0b84..c60ddc05fd 100644
--- a/sw/airborne/subsystems/ins.c
+++ b/sw/airborne/subsystems/ins.c
@@ -64,8 +64,5 @@ void WEAK ins_reset_utm_zone(struct UtmCoor_f * utm __attribute__((unused))) {}
 
 void WEAK ins_propagate(void) {}
 
-void WEAK ins_update_baro(void) {}
-
 void WEAK ins_update_gps(void) {}
 
-void WEAK ins_update_sonar(void) {}
diff --git a/sw/airborne/subsystems/ins.h b/sw/airborne/subsystems/ins.h
index 899eeb70dc..dbc8d500ea 100644
--- a/sw/airborne/subsystems/ins.h
+++ b/sw/airborne/subsystems/ins.h
@@ -86,21 +86,10 @@ extern void ins_reset_utm_zone(struct UtmCoor_f * utm);
  */
 extern void ins_propagate(void);
 
-/** Update INS state with barometer measurements.
- *  Does nothing if not implemented by specific INS algorithm.
- */
-extern void ins_update_baro(void);
-
 /** Update INS state with GPS measurements.
  *  Reads the global #gps data struct.
  *  Does nothing if not implemented by specific INS algorithm.
  */
 extern void ins_update_gps(void);
 
-/** Update INS state with sonar measurements.
- *  Does nothing if not implemented by specific INS algorithm.
- */
-extern void ins_update_sonar(void);
-
-
 #endif /* INS_H */