diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 7ed4ba7329..62a2eb5336 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -181,13 +181,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     GSCALAR(xtrack_angle_limit,"XTRACK_ANG_LIM", 45),
 
-    // @Param: GPS_HDOP_GOOD
-    // @DisplayName: GPS Hdop Good
-    // @Description: GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks
-    // @Range: 100 900
-    // @User: Advanced
-    GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),
-
     // @Param: MAG_ENABLE
     // @DisplayName: Compass enable/disable
     // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index f87ebed76a..b1a5b2f691 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -189,8 +189,7 @@ public:
         k_param_arming_check, // deprecated, remove
         k_param_angle_max,
         k_param_rangefinder_gain,
-        k_param_gps_hdop_good,
-        k_param_wp_yaw_behavior,
+        k_param_wp_yaw_behavior = 170,
         k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees)
         k_param_pilot_velocity_z_max,
         k_param_pilot_accel_z,
@@ -254,8 +253,6 @@ public:
 
     AP_Int8         xtrack_angle_limit;
 
-    AP_Int16        gps_hdop_good;              // GPS Hdop value at or below this value represent a good position
-
     AP_Int8         compass_enabled;
 
     AP_Int8         wp_yaw_behavior;            // controls how the autopilot controls yaw during missions