diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 2bee51206b..d0d0c61c8c 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -899,7 +899,6 @@ private:
     int16_t get_throttle_mid(void);
 
     // sensors.cpp
-    void init_barometer(bool full_calibration);
     void read_barometer(void);
     void init_rangefinder(void);
     void read_rangefinder(void);
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 6c734210b1..4c57dd5410 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -720,12 +720,6 @@ void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t* msg)
 
 MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
 {
-    if (is_equal(packet.param3,1.0f)) {
-        // fast barometer calibration
-        copter.init_barometer(false);
-        return MAV_RESULT_ACCEPTED;
-    }
-
     if (is_equal(packet.param6,1.0f)) {
         // compassmot calibration
         return copter.mavlink_compassmot(chan);
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index a2739d6073..0ee0f6d0a2 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -1,16 +1,5 @@
 #include "Copter.h"
 
-void Copter::init_barometer(bool full_calibration)
-{
-    gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
-    if (full_calibration) {
-        barometer.calibrate();
-    }else{
-        barometer.update_calibration();
-    }
-    gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
-}
-
 // return barometric altitude in centimeters
 void Copter::read_barometer(void)
 {
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index b7feb2353f..672db545af 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -209,7 +209,7 @@ void Copter::init_ardupilot()
 
     // read Baro pressure at ground
     //-----------------------------
-    init_barometer(true);
+    barometer.calibrate();
 
     // initialise rangefinder
     init_rangefinder();