diff --git a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
index a0e57c4dc..eb639cd1d 100644
--- a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
+++ b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
@@ -90,13 +90,6 @@ static void ahrscommsTask(void *parameters)
 
 	AlarmsSet(SYSTEMALARMS_ALARM_AHRSCOMMS, SYSTEMALARMS_ALARM_CRITICAL);
 
-	/*Until AHRS connects, assume it doesn't know home */
-	AhrsStatusGet(&data);
-	data.HomeSet = AHRSSTATUS_HOMESET_FALSE;
-	//data.CalibrationSet = AHRSSTATUS_CALIBRATIONSET_FALSE;
-	data.AlgorithmSet = AHRSSTATUS_CALIBRATIONSET_FALSE;
-	AhrsStatusSet(&data);
-
 	// Main task loop
 	while (1) {
 		AHRSSettingsData settings;
diff --git a/flight/OpenPilot/UAVObjects/inc/ahrsstatus.h b/flight/OpenPilot/UAVObjects/inc/ahrsstatus.h
index ff592c2c0..4c2e53ad3 100644
--- a/flight/OpenPilot/UAVObjects/inc/ahrsstatus.h
+++ b/flight/OpenPilot/UAVObjects/inc/ahrsstatus.h
@@ -41,7 +41,7 @@
 #define AHRSSTATUS_H
 
 // Object constants
-#define AHRSSTATUS_OBJID 188215176U
+#define AHRSSTATUS_OBJID 3773703778U
 #define AHRSSTATUS_NAME "AhrsStatus"
 #define AHRSSTATUS_METANAME "AhrsStatusMeta"
 #define AHRSSTATUS_ISSINGLEINST 1
@@ -76,9 +76,6 @@ typedef struct {
     uint8_t IdleTimePerCyle;
     uint8_t RunningTimePerCyle;
     uint8_t DroppedUpdates;
-    uint8_t AlgorithmSet;
-    uint8_t CalibrationSet;
-    uint8_t HomeSet;
     uint8_t LinkRunning;
     uint8_t AhrsKickstarts;
     uint8_t AhrsCrcErrors;
@@ -98,15 +95,6 @@ typedef struct {
 // Field IdleTimePerCyle information
 // Field RunningTimePerCyle information
 // Field DroppedUpdates information
-// Field AlgorithmSet information
-/* Enumeration options for field AlgorithmSet */
-typedef enum { AHRSSTATUS_ALGORITHMSET_FALSE=0, AHRSSTATUS_ALGORITHMSET_TRUE=1 } AhrsStatusAlgorithmSetOptions;
-// Field CalibrationSet information
-/* Enumeration options for field CalibrationSet */
-typedef enum { AHRSSTATUS_CALIBRATIONSET_FALSE=0, AHRSSTATUS_CALIBRATIONSET_TRUE=1 } AhrsStatusCalibrationSetOptions;
-// Field HomeSet information
-/* Enumeration options for field HomeSet */
-typedef enum { AHRSSTATUS_HOMESET_FALSE=0, AHRSSTATUS_HOMESET_TRUE=1 } AhrsStatusHomeSetOptions;
 // Field LinkRunning information
 /* Enumeration options for field LinkRunning */
 typedef enum { AHRSSTATUS_LINKRUNNING_FALSE=0, AHRSSTATUS_LINKRUNNING_TRUE=1 } AhrsStatusLinkRunningOptions;
diff --git a/ground/src/plugins/uavobjects/ahrsstatus.cpp b/ground/src/plugins/uavobjects/ahrsstatus.cpp
index 1eb1c895b..cfa4fcabc 100644
--- a/ground/src/plugins/uavobjects/ahrsstatus.cpp
+++ b/ground/src/plugins/uavobjects/ahrsstatus.cpp
@@ -64,24 +64,6 @@ AhrsStatus::AhrsStatus(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
     QStringList DroppedUpdatesElemNames;
     DroppedUpdatesElemNames.append("0");
     fields.append( new UAVObjectField(QString("DroppedUpdates"), QString("count"), UAVObjectField::UINT8, DroppedUpdatesElemNames, QStringList()) );
-    QStringList AlgorithmSetElemNames;
-    AlgorithmSetElemNames.append("0");
-    QStringList AlgorithmSetEnumOptions;
-    AlgorithmSetEnumOptions.append("FALSE");
-    AlgorithmSetEnumOptions.append("TRUE");
-    fields.append( new UAVObjectField(QString("AlgorithmSet"), QString(""), UAVObjectField::ENUM, AlgorithmSetElemNames, AlgorithmSetEnumOptions) );
-    QStringList CalibrationSetElemNames;
-    CalibrationSetElemNames.append("0");
-    QStringList CalibrationSetEnumOptions;
-    CalibrationSetEnumOptions.append("FALSE");
-    CalibrationSetEnumOptions.append("TRUE");
-    fields.append( new UAVObjectField(QString("CalibrationSet"), QString(""), UAVObjectField::ENUM, CalibrationSetElemNames, CalibrationSetEnumOptions) );
-    QStringList HomeSetElemNames;
-    HomeSetElemNames.append("0");
-    QStringList HomeSetEnumOptions;
-    HomeSetEnumOptions.append("FALSE");
-    HomeSetEnumOptions.append("TRUE");
-    fields.append( new UAVObjectField(QString("HomeSet"), QString(""), UAVObjectField::ENUM, HomeSetElemNames, HomeSetEnumOptions) );
     QStringList LinkRunningElemNames;
     LinkRunningElemNames.append("0");
     QStringList LinkRunningEnumOptions;
diff --git a/ground/src/plugins/uavobjects/ahrsstatus.h b/ground/src/plugins/uavobjects/ahrsstatus.h
index b60838b16..1feb35794 100644
--- a/ground/src/plugins/uavobjects/ahrsstatus.h
+++ b/ground/src/plugins/uavobjects/ahrsstatus.h
@@ -48,9 +48,6 @@ public:
         quint8 IdleTimePerCyle;
         quint8 RunningTimePerCyle;
         quint8 DroppedUpdates;
-        quint8 AlgorithmSet;
-        quint8 CalibrationSet;
-        quint8 HomeSet;
         quint8 LinkRunning;
         quint8 AhrsKickstarts;
         quint8 AhrsCrcErrors;
@@ -70,15 +67,6 @@ public:
     // Field IdleTimePerCyle information
     // Field RunningTimePerCyle information
     // Field DroppedUpdates information
-    // Field AlgorithmSet information
-    /* Enumeration options for field AlgorithmSet */
-    typedef enum { ALGORITHMSET_FALSE=0, ALGORITHMSET_TRUE=1 } AlgorithmSetOptions;
-    // Field CalibrationSet information
-    /* Enumeration options for field CalibrationSet */
-    typedef enum { CALIBRATIONSET_FALSE=0, CALIBRATIONSET_TRUE=1 } CalibrationSetOptions;
-    // Field HomeSet information
-    /* Enumeration options for field HomeSet */
-    typedef enum { HOMESET_FALSE=0, HOMESET_TRUE=1 } HomeSetOptions;
     // Field LinkRunning information
     /* Enumeration options for field LinkRunning */
     typedef enum { LINKRUNNING_FALSE=0, LINKRUNNING_TRUE=1 } LinkRunningOptions;
@@ -92,7 +80,7 @@ public:
 
   
     // Constants
-    static const quint32 OBJID = 188215176U;
+    static const quint32 OBJID = 3773703778U;
     static const QString NAME;
     static const bool ISSINGLEINST = 1;
     static const bool ISSETTINGS = 0;
diff --git a/ground/src/plugins/uavobjects/ahrsstatus.py b/ground/src/plugins/uavobjects/ahrsstatus.py
index ee79d0793..997e7f5c8 100644
--- a/ground/src/plugins/uavobjects/ahrsstatus.py
+++ b/ground/src/plugins/uavobjects/ahrsstatus.py
@@ -94,42 +94,6 @@ _fields = [ \
 		{
 		}
 	),
-	uavobject.UAVObjectField(
-		'AlgorithmSet',
-		'b',
-		1,
-		[
-			'0',
-		],
-		{
-			'0' : 'FALSE',
-			'1' : 'TRUE',
-		}
-	),
-	uavobject.UAVObjectField(
-		'CalibrationSet',
-		'b',
-		1,
-		[
-			'0',
-		],
-		{
-			'0' : 'FALSE',
-			'1' : 'TRUE',
-		}
-	),
-	uavobject.UAVObjectField(
-		'HomeSet',
-		'b',
-		1,
-		[
-			'0',
-		],
-		{
-			'0' : 'FALSE',
-			'1' : 'TRUE',
-		}
-	),
 	uavobject.UAVObjectField(
 		'LinkRunning',
 		'b',
@@ -217,7 +181,7 @@ _fields = [ \
 
 class AhrsStatus(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 188215176
+    OBJID        = 3773703778
     NAME         = "AhrsStatus"
     METANAME     = "AhrsStatusMeta"
     ISSINGLEINST = 1
diff --git a/ground/src/shared/uavobjectdefinition/ahrsstatus.xml b/ground/src/shared/uavobjectdefinition/ahrsstatus.xml
index f76726722..145ddf5b0 100644
--- a/ground/src/shared/uavobjectdefinition/ahrsstatus.xml
+++ b/ground/src/shared/uavobjectdefinition/ahrsstatus.xml
@@ -6,9 +6,6 @@
         <field name="IdleTimePerCyle" units="10x ms" type="uint8" elements="1"/>
         <field name="RunningTimePerCyle" units="10x ms" type="uint8" elements="1"/>
         <field name="DroppedUpdates" units="count" type="uint8" elements="1"/>
-        <field name="AlgorithmSet" units="" type="enum" elements="1" options="FALSE,TRUE"/>
-        <field name="CalibrationSet" units="" type="enum" elements="1" options="FALSE,TRUE"/>
-        <field name="HomeSet" units="" type="enum" elements="1" options="FALSE,TRUE"/>
 
         <field name="LinkRunning" units="" type="enum" elements="1" options="FALSE,TRUE"/>
         <field name="AhrsKickstarts" units="count" type="uint8" elements="1"/>