diff --git a/flight/targets/boards/revolution/firmware/UAVObjects.inc b/flight/targets/boards/revolution/firmware/UAVObjects.inc
index 7a63dc9f2..8d7c97181 100644
--- a/flight/targets/boards/revolution/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revolution/firmware/UAVObjects.inc
@@ -23,7 +23,6 @@ UAVOBJSRCFILENAMES += accessorydesired
 UAVOBJSRCFILENAMES += actuatorcommand
 UAVOBJSRCFILENAMES += actuatordesired
 UAVOBJSRCFILENAMES += actuatorsettings
-UAVOBJSRCFILENAMES += altholdsmoothed
 UAVOBJSRCFILENAMES += attitudesettings
 UAVOBJSRCFILENAMES += attitudestate
 UAVOBJSRCFILENAMES += gyrostate
diff --git a/flight/targets/boards/revoproto/firmware/UAVObjects.inc b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
index 80dab9e61..56eff01b1 100644
--- a/flight/targets/boards/revoproto/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
@@ -28,7 +28,6 @@ UAVOBJSRCFILENAMES += accessorydesired
 UAVOBJSRCFILENAMES += actuatorcommand
 UAVOBJSRCFILENAMES += actuatordesired
 UAVOBJSRCFILENAMES += actuatorsettings
-UAVOBJSRCFILENAMES += altholdsmoothed
 UAVOBJSRCFILENAMES += attitudesettings
 UAVOBJSRCFILENAMES += attitudestate
 UAVOBJSRCFILENAMES += gyrostate
diff --git a/flight/targets/boards/simposix/firmware/UAVObjects.inc b/flight/targets/boards/simposix/firmware/UAVObjects.inc
index be99363d3..0f8adf8f8 100644
--- a/flight/targets/boards/simposix/firmware/UAVObjects.inc
+++ b/flight/targets/boards/simposix/firmware/UAVObjects.inc
@@ -28,7 +28,6 @@ UAVOBJSRCFILENAMES += accessorydesired
 UAVOBJSRCFILENAMES += actuatorcommand
 UAVOBJSRCFILENAMES += actuatordesired
 UAVOBJSRCFILENAMES += actuatorsettings
-UAVOBJSRCFILENAMES += altholdsmoothed
 UAVOBJSRCFILENAMES += attitudesettings
 UAVOBJSRCFILENAMES += attitudestate
 UAVOBJSRCFILENAMES += attitudesimulated
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index d1b002994..0ca81220d 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -32,7 +32,6 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/airspeedstate.h \
     $$UAVOBJECT_SYNTHETICS/attitudestate.h \
     $$UAVOBJECT_SYNTHETICS/attitudesimulated.h \
-    $$UAVOBJECT_SYNTHETICS/altholdsmoothed.h \
     $$UAVOBJECT_SYNTHETICS/altitudeholddesired.h \
     $$UAVOBJECT_SYNTHETICS/altitudeholdsettings.h \
     $$UAVOBJECT_SYNTHETICS/altitudefiltersettings.h \
@@ -123,7 +122,6 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/airspeedstate.cpp \
     $$UAVOBJECT_SYNTHETICS/attitudestate.cpp \
     $$UAVOBJECT_SYNTHETICS/attitudesimulated.cpp \
-    $$UAVOBJECT_SYNTHETICS/altholdsmoothed.cpp \
     $$UAVOBJECT_SYNTHETICS/altitudeholddesired.cpp \
     $$UAVOBJECT_SYNTHETICS/altitudeholdsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/debuglogsettings.cpp \
diff --git a/shared/uavobjectdefinition/altholdsmoothed.xml b/shared/uavobjectdefinition/altholdsmoothed.xml
deleted file mode 100644
index 1339e1337..000000000
--- a/shared/uavobjectdefinition/altholdsmoothed.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<xml>
-    <object name="AltHoldSmoothed" singleinstance="true" settings="false" category="State">
-        <description>The output on the kalman filter on altitude.</description>
-        <field name="Altitude" units="m" type="float" elements="1"/>
-		<field name="Velocity" units="m/s" type="float" elements="1"/>
-        <access gcs="readwrite" flight="readwrite"/>
-        <telemetrygcs acked="false" updatemode="manual" period="0"/>
-        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
-        <logging updatemode="manual" period="0"/>
-    </object>
-</xml>