diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 8817d5ff14..d557d9842c 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1388,8 +1388,3 @@ const AP_FWVersion &GCS_MAVLINK_Rover::get_fwver() const
 {
     return rover.fwver;
 }
-
-void GCS_MAVLINK_Rover::set_ekf_origin(const Location& loc)
-{
-    rover.set_ekf_origin(loc);
-}
diff --git a/APMrover2/GCS_Mavlink.h b/APMrover2/GCS_Mavlink.h
index 77ecb43774..2f157c584e 100644
--- a/APMrover2/GCS_Mavlink.h
+++ b/APMrover2/GCS_Mavlink.h
@@ -21,7 +21,6 @@ protected:
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
     AP_VisualOdom *get_visual_odom() const override;
     const AP_FWVersion &get_fwver() const override;
-    void set_ekf_origin(const Location& loc) override;
 
     uint8_t sysid_my_gcs() const override;
 
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 470608f346..17210ad2f0 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -427,7 +427,6 @@ private:
     void update_home_from_EKF();
     bool set_home_to_current_location(bool lock);
     bool set_home(const Location& loc, bool lock);
-    void set_ekf_origin(const Location& loc);
     void set_system_time_from_GPS();
     void update_home();
 
diff --git a/APMrover2/commands.cpp b/APMrover2/commands.cpp
index 4ba5b97059..af946526af 100644
--- a/APMrover2/commands.cpp
+++ b/APMrover2/commands.cpp
@@ -88,32 +88,6 @@ bool Rover::set_home(const Location& loc, bool lock)
     return true;
 }
 
-// sets ekf_origin if it has not been set.
-//  should only be used when there is no GPS to provide an absolute position
-void Rover::set_ekf_origin(const Location& loc)
-{
-    // check location is valid
-    if (!check_latlng(loc)) {
-        return;
-    }
-
-    // check if EKF origin has already been set
-    Location ekf_origin;
-    if (ahrs.get_origin(ekf_origin)) {
-        return;
-    }
-
-    if (!ahrs.set_origin(loc)) {
-        return;
-    }
-
-    // log ahrs home and ekf origin dataflash
-    ahrs.Log_Write_Home_And_Origin();
-
-    // send ekf origin to GCS
-    gcs().send_ekf_origin(loc);
-}
-
 // checks if we should update ahrs/RTL home position from GPS
 void Rover::set_system_time_from_GPS()
 {