diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index d38be45c1a..07dbe4c9b8 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -32,41 +32,5 @@ float safe_sqrt(float v)
     return ret;
 }
 
-#if ROTATION_COMBINATION_SUPPORT
-// find a rotation that is the combination of two other
-// rotations. This is used to allow us to add an overall board
-// rotation to an existing rotation of a sensor such as the compass
-// Note that this relies the set of rotations being complete. The
-// optional 'found' parameter is for the test suite to ensure that it is.
-enum Rotation rotation_combination(enum Rotation r1, enum Rotation r2, bool *found)
-{
-    Vector3f tv1, tv2;
-    enum Rotation r;
-    tv1(1,2,3);
-    tv1.rotate(r1);
-    tv1.rotate(r2);
-
-    for (r=ROTATION_NONE; r<ROTATION_MAX;
-         r = (enum Rotation)((uint8_t)r+1)) {
-        Vector3f diff;
-        tv2(1,2,3);
-        tv2.rotate(r);
-        diff = tv1 - tv2;
-        if (diff.length() < 1.0e-6f) {
-            // we found a match
-            if (found) {
-                *found = true;
-            }
-            return r;
-        }
-    }
 
-    // we found no matching rotation. Someone has edited the
-    // rotations list and broken its completeness property ...
-    if (found) {
-        *found = false;
-    }
-    return ROTATION_NONE;
-}
-#endif
 
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index fcffbccc90..97cd532b17 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -90,13 +90,6 @@ float           safe_asin(float v);
 // a varient of sqrt() that always gives a valid answer.
 float           safe_sqrt(float v);
 
-#if ROTATION_COMBINATION_SUPPORT
-// find a rotation that is the combination of two other
-// rotations. This is used to allow us to add an overall board
-// rotation to an existing rotation of a sensor such as the compass
-enum Rotation           rotation_combination(enum Rotation r1, enum Rotation r2, bool *found = NULL);
-#endif
-
 // longitude_scale - returns the scaler to compensate for shrinking longitude as you move north or south from the equator
 // Note: this does not include the scaling to convert longitude/latitude points to meters or centimeters
 float                   longitude_scale(const struct Location &loc);