diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index f69d12f47b..bffe898418 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -33,13 +33,6 @@
 
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 
-// Copter defaults to EKF on by default, all others off
-#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
-# define AHRS_EKF_USE_ALWAYS     1
-#else
-# define AHRS_EKF_USE_ALWAYS     0
-#endif
-
 #define AP_AHRS_TRIM_LIMIT 10.0f        // maximum trim angle in degrees
 #define AP_AHRS_RP_P_MIN   0.05f        // minimum value for AHRS_RP_P parameter
 #define AP_AHRS_YAW_P_MIN  0.05f        // minimum value for AHRS_YAW_P parameter
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 8a25547d5b..099aaddf7e 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -43,12 +43,7 @@ public:
 
     // Constructor
     AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng,
-                   NavEKF &_EKF1, NavEKF2 &_EKF2,
-#if AHRS_EKF_USE_ALWAYS
-                   Flags flags = FLAG_ALWAYS_USE_EKF
-#else
-                   Flags flags = FLAG_NONE
-#endif
+                   NavEKF &_EKF1, NavEKF2 &_EKF2, Flags flags = FLAG_NONE
         ) :
         AP_AHRS_DCM(ins, baro, gps),
         EKF1(_EKF1),