diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index f6b8b14d44..9684197853 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -38,10 +38,6 @@ MAV_MODE GCS_MAVLINK_Rover::base_mode() const
         _base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
     }
 
-#if HIL_MODE != HIL_MODE_DISABLED
-    _base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
-#endif
-
     // we are armed if we are not initialising
     if (rover.control_mode != &rover.mode_initializing && rover.arming.is_armed()) {
         _base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
@@ -538,14 +534,6 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
     MAV_STREAM_TERMINATOR // must have this at end of stream_entries
 };
 
-bool GCS_MAVLINK_Rover::in_hil_mode() const
-{
-#if HIL_MODE != HIL_MODE_DISABLED
-    return rover.g.hil_mode == 1;
-#endif
-    return false;
-}
-
 bool GCS_MAVLINK_Rover::handle_guided_request(AP_Mission::Mission_Command &cmd)
 {
     if (!rover.control_mode->in_guided_mode()) {
@@ -755,12 +743,6 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
         handle_set_position_target_global_int(msg);
         break;
 
-#if HIL_MODE != HIL_MODE_DISABLED
-    case MAVLINK_MSG_ID_HIL_STATE:
-        handle_hil_state(msg);
-        break;
-#endif
-
     case MAVLINK_MSG_ID_RADIO:
     case MAVLINK_MSG_ID_RADIO_STATUS:
         handle_radio(msg);
@@ -1056,49 +1038,6 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
     }
 }
 
-#if HIL_MODE != HIL_MODE_DISABLED
-void GCS_MAVLINK_Rover::handle_hil_state(const mavlink_message_t &msg)
-{
-    mavlink_hil_state_t packet;
-    mavlink_msg_hil_state_decode(&msg, &packet);
-
-    // sanity check location
-    if (!check_latlng(packet.lat, packet.lon)) {
-        return;
-    }
-
-    // set gps hil sensor
-    Location loc;
-    loc.lat = packet.lat;
-    loc.lng = packet.lon;
-    loc.alt = packet.alt/10;
-    Vector3f vel(packet.vx, packet.vy, packet.vz);
-    vel *= 0.01f;
-
-    gps.setHIL(0, AP_GPS::GPS_OK_FIX_3D,
-               packet.time_usec/1000,
-               loc, vel, 10, 0);
-
-    // rad/sec
-    Vector3f gyros;
-    gyros.x = packet.rollspeed;
-    gyros.y = packet.pitchspeed;
-    gyros.z = packet.yawspeed;
-
-    // m/s/s
-    Vector3f accels;
-    accels.x = packet.xacc * (GRAVITY_MSS/1000.0f);
-    accels.y = packet.yacc * (GRAVITY_MSS/1000.0f);
-    accels.z = packet.zacc * (GRAVITY_MSS/1000.0f);
-
-    ins.set_gyro(0, gyros);
-
-    ins.set_accel(0, accels);
-    compass.setHIL(0, packet.roll, packet.pitch, packet.yaw);
-    compass.setHIL(1, packet.roll, packet.pitch, packet.yaw);
-}
-#endif  // HIL_MODE
-
 void GCS_MAVLINK_Rover::handle_radio(const mavlink_message_t &msg)
 {
     handle_radio_status(msg, rover.should_log(MASK_LOG_PM));
diff --git a/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h
index 3a8da8be48..3ede3bf492 100644
--- a/Rover/GCS_Mavlink.h
+++ b/Rover/GCS_Mavlink.h
@@ -22,8 +22,6 @@ protected:
 
     void send_position_target_global_int() override;
 
-    virtual bool in_hil_mode() const override;
-
     bool persist_streamrates() const override { return true; }
 
     bool set_home_to_current_location(bool lock) override;
@@ -44,7 +42,6 @@ private:
     void handle_set_attitude_target(const mavlink_message_t &msg);
     void handle_set_position_target_local_ned(const mavlink_message_t &msg);
     void handle_set_position_target_global_int(const mavlink_message_t &msg);
-    void handle_hil_state(const mavlink_message_t &msg);
     void handle_radio(const mavlink_message_t &msg);
 
     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 80809d5fce..708464447a 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -231,11 +231,6 @@ void Rover::ahrs_update()
 {
     arming.update_soft_armed();
 
-#if HIL_MODE != HIL_MODE_DISABLED
-    // update hil before AHRS update
-    gcs().update();
-#endif
-
     // AHRS may use movement to calculate heading
     update_ahrs_flyforward();
 
diff --git a/Rover/config.h b/Rover/config.h
index 3bf53ce917..1326006d70 100644
--- a/Rover/config.h
+++ b/Rover/config.h
@@ -2,16 +2,6 @@
 
 #include "defines.h"
 
-//////////////////////////////////////////////////////////////////////////////
-// sensor types
-
-//////////////////////////////////////////////////////////////////////////////
-// HIL_MODE                                 OPTIONAL
-
-#ifndef HIL_MODE
-  #define HIL_MODE HIL_MODE_DISABLED
-#endif
-
 #ifndef MAV_SYSTEM_ID
   #define MAV_SYSTEM_ID    1
 #endif
diff --git a/Rover/defines.h b/Rover/defines.h
index 2c53628321..49f5a5034a 100644
--- a/Rover/defines.h
+++ b/Rover/defines.h
@@ -13,10 +13,6 @@
 
 #define SERVO_MAX 4500  // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
 
-// HIL enumerations
-#define HIL_MODE_DISABLED 0
-#define HIL_MODE_SENSORS  1
-
 // types of failsafe events
 #define FAILSAFE_EVENT_THROTTLE (1<<0)
 #define FAILSAFE_EVENT_GCS      (1<<1)