diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 21efa3ef5fac15..74f138becf9a00 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -3832,86 +3832,6 @@ def SplineTerrain(self):
         self.set_parameter("TERRAIN_ENABLE", 0)
         self.fly_mission("wp.txt")
 
-    def WPNAV_SPEED(self):
-        '''ensure resetting WPNAV_SPEED during a mission works'''
-
-        loc = self.poll_home_position()
-        alt = 20
-        loc.alt = alt
-        items = []
-
-        # 100 waypoints in a line, 10m apart in a northerly direction
-        #        for i in range(1, 100):
-        #            items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, i*10, 0, alt))
-
-        # 1 waypoint a long way away
-        items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, alt),)
-
-        items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
-
-        self.upload_simple_relhome_mission(items)
-
-        start_speed_ms = self.get_parameter('WPNAV_SPEED') / 100.0
-
-        self.takeoff(20)
-        self.change_mode('AUTO')
-        self.wait_groundspeed(start_speed_ms-1, start_speed_ms+1, minimum_duration=10)
-
-        for speed_ms in 7, 8, 7, 8, 9, 10, 11, 7:
-            self.set_parameter('WPNAV_SPEED', speed_ms*100)
-            self.wait_groundspeed(speed_ms-1, speed_ms+1, minimum_duration=10)
-        self.do_RTL()
-
-    def WPNAV_SPEED_UP(self):
-        '''Change speed (up) during mission'''
-
-        items = []
-
-        # 1 waypoint a long way up
-        items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 20000),)
-
-        items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
-
-        self.upload_simple_relhome_mission(items)
-
-        start_speed_ms = self.get_parameter('WPNAV_SPEED_UP') / 100.0
-
-        minimum_duration = 5
-
-        self.takeoff(20)
-        self.change_mode('AUTO')
-        self.wait_climbrate(start_speed_ms-1, start_speed_ms+1, minimum_duration=minimum_duration)
-
-        for speed_ms in 7, 8, 7, 8, 6, 2:
-            self.set_parameter('WPNAV_SPEED_UP', speed_ms*100)
-            self.wait_climbrate(speed_ms-1, speed_ms+1, minimum_duration=minimum_duration)
-        self.do_RTL(timeout=240)
-
-    def WPNAV_SPEED_DN(self):
-        '''Change speed (down) during mission'''
-
-        items = []
-
-        # 1 waypoint a long way back down
-        items.append((mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 0, 0, 10),)
-
-        items.append((mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0))
-
-        self.upload_simple_relhome_mission(items)
-
-        minimum_duration = 5
-
-        self.takeoff(500, timeout=70)
-        self.change_mode('AUTO')
-
-        start_speed_ms = self.get_parameter('WPNAV_SPEED_DN') / 100.0
-        self.wait_climbrate(-start_speed_ms-1, -start_speed_ms+1, minimum_duration=minimum_duration)
-
-        for speed_ms in 7, 8, 7, 8, 6, 2:
-            self.set_parameter('WPNAV_SPEED_DN', speed_ms*100)
-            self.wait_climbrate(-speed_ms-1, -speed_ms+1, minimum_duration=minimum_duration)
-        self.do_RTL()
-
     def fly_mission(self, filename, strict=True):
         num_wp = self.load_mission(filename, strict=strict)
         self.set_parameter("AUTO_OPTIONS", 3)