diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 6408a4db84..094f5dbfe9 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -108,7 +108,6 @@
 #include <AP_ADC.h>             // ArduPilot Mega Analog to Digital Converter Library
 #include <AP_ADC_AnalogSource.h>
 #include <AP_Baro.h>
-#include <AP_Baro_Glitch.h>     // Baro glitch protection library
 #include <AP_Compass.h>         // ArduPilot Mega Magnetometer Library
 #include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <AP_Curve.h>           // Curve used to linearlise throttle pwm to thrust
@@ -265,8 +264,6 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
 
 static AP_Baro barometer;
 
-static Baro_Glitch baro_glitch(barometer);
-
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
 static AP_Compass_PX4 compass;
 #elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
@@ -606,9 +603,9 @@ static float G_Dt = 0.02;
 // Inertial Navigation
 ////////////////////////////////////////////////////////////////////////////////
 #if AP_AHRS_NAVEKF_AVAILABLE
-static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, gps_glitch, baro_glitch);
+static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, gps_glitch);
 #else
-static AP_InertialNav inertial_nav(ahrs, barometer, gps_glitch, baro_glitch);
+static AP_InertialNav inertial_nav(ahrs, barometer, gps_glitch);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index b10365e888..bfa681ea4c 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -136,7 +136,7 @@ public:
         k_param_altitude_limit,         // deprecated - remove
         k_param_fence,
         k_param_gps_glitch,
-        k_param_baro_glitch,            // 71
+        k_param_baro_glitch,            // 71 - deprecated
 
         //
         // 75: Singlecopter, CoaxCopter
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 3417c16758..f94ab492cc 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -907,10 +907,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/AP_GPS/AP_GPS_Glitch.cpp
     GOBJECT(gps_glitch,      "GPSGLITCH_",   GPS_Glitch),
 
-    // @Group: BAROGLTCH_
-    // @Path: ../libraries/AP_Baro/AP_Baro_Glitch.cpp
-    GOBJECT(baro_glitch,    "BAROGLTCH_",   Baro_Glitch),
-
 #if FRAME_CONFIG ==     HELI_FRAME
     // @Group: H_
     // @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 13d77af0da..ad7489b06a 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -8,8 +8,6 @@ static void init_barometer(bool full_calibration)
     }else{
         barometer.update_calibration();
     }
-    // reset glitch protection to use new baro alt
-    baro_glitch.reset();
     gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
 }
 
@@ -22,18 +20,6 @@ static void read_barometer(void)
     }
     baro_alt = barometer.get_altitude() * 100.0f;
     baro_climbrate = barometer.get_climb_rate() * 100.0f;
-
-    // run glitch protection and update AP_Notify if home has been initialised
-    baro_glitch.check_alt();
-    bool report_baro_glitch = (baro_glitch.glitching() && !ap.usb_connected && hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
-    if (AP_Notify::flags.baro_glitching != report_baro_glitch) {
-        if (baro_glitch.glitching()) {
-            Log_Write_Error(ERROR_SUBSYSTEM_BARO, ERROR_CODE_BARO_GLITCH);
-        } else {
-            Log_Write_Error(ERROR_SUBSYSTEM_BARO, ERROR_CODE_ERROR_RESOLVED);
-        }
-        AP_Notify::flags.baro_glitching = report_baro_glitch;
-    }
 }
 
 #if CONFIG_SONAR == ENABLED