diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 9d4c85ab60..a3f9454988 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -50,13 +50,6 @@ static void calc_XY_velocity(){
     last_longitude  = g_gps->longitude;
     last_latitude   = g_gps->latitude;
 
-    /*if(g_gps->ground_speed > 150){
-     *       float temp = radians((float)g_gps->ground_course/100.0);
-     *       x_actual_speed = (float)g_gps->ground_speed * sin(temp);
-     *       y_actual_speed = (float)g_gps->ground_speed * cos(temp);
-     *  }*/
-
-
 #if INERTIAL_NAV == ENABLED
     // inertial_nav
     xy_error_correction();
diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index eeacccc83b..0e7eeb0657 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -772,70 +772,6 @@ static void clear_offsets()
     compass.save_offsets();
 }
 
-/*static int8_t
- *  setup_mag_offset(uint8_t argc, const Menu::arg *argv)
- *  {
- *       Vector3f _offsets;
- *
- *       if (!strcmp_P(argv[1].str, PSTR("c"))) {
- *               clear_offsets();
- *               report_compass();
- *               return (0);
- *       }
- *
- *       print_hit_enter();
- *       init_compass();
- *
- *       int16_t _min[3] = {0,0,0};
- *       int16_t _max[3] = {0,0,0};
- *
- *       compass.read();
- *
- *       while(1){
- *               delay(50);
- *       float heading;
- *
- *               compass.read();
- *               heading = compass.calculate_heading(0,0);	// roll = 0, pitch = 0
- *
- *               if(compass.mag_x < _min[0])	_min[0] = compass.mag_x;
- *               if(compass.mag_y < _min[1])	_min[1] = compass.mag_y;
- *               if(compass.mag_z < _min[2])	_min[2] = compass.mag_z;
- *
- *               // capture max
- *               if(compass.mag_x > _max[0])	_max[0] = compass.mag_x;
- *               if(compass.mag_y > _max[1])	_max[1] = compass.mag_y;
- *               if(compass.mag_z > _max[2])	_max[2] = compass.mag_z;
- *
- *               // calculate offsets
- *               _offsets.x = (float)(_max[0] + _min[0]) / -2;
- *               _offsets.y = (float)(_max[1] + _min[1]) / -2;
- *               _offsets.z = (float)(_max[2] + _min[2]) / -2;
- *
- *               // display all to user
- *               Serial.printf_P(PSTR("Heading: %u, \t (%d, %d, %d), (%4.4f, %4.4f, %4.4f)\n"),
- *
- *                               (uint16_t)(wrap_360(ToDeg(heading) * 100)) /100,
- *
- *                               compass.mag_x,
- *                               compass.mag_y,
- *                               compass.mag_z,
- *
- *                               _offsets.x,
- *                               _offsets.y,
- *                               _offsets.z);
- *
- *               if(Serial.available() > 1){
- *                       compass.set_offsets(_offsets);
- *                       //compass.set_offsets(mag_offset_x, mag_offset_y, mag_offset_z);
- *                       report_compass();
- *                       return 0;
- *               }
- *       }
- *       return 0;
- *  }
- */
-
 static int8_t
 setup_optflow(uint8_t argc, const Menu::arg *argv)
 {