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diff --git a/apps/mathlib/math/Quaternion.hpp b/apps/mathlib/math/Quaternion.hpp
deleted file mode 100644
index 4b4e959d8..000000000
--- a/apps/mathlib/math/Quaternion.hpp
+++ /dev/null
@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file Quaternion.hpp
- *
- * math quaternion lib
- */
-
-//#pragma once
-
-#include "Vector.hpp"
-#include "Matrix.hpp"
-
-namespace math
-{
-
-class Dcm;
-class EulerAngles;
-
-class __EXPORT Quaternion : public Vector
-{
-public:
-
-	/**
-	 * default ctor
-	 */
-	Quaternion();
-
-	/**
-	 * ctor from floats
-	 */
-	Quaternion(float a, float b, float c, float d);
-
-	/**
-	 * ctor from data
-	 */
-	Quaternion(const float *data);
-
-	/**
-	 * ctor from Vector
-	 */
-	Quaternion(const Vector &v);
-
-	/**
-	 * ctor from EulerAngles
-	 */
-	Quaternion(const EulerAngles &euler);
-
-	/**
-	 * ctor from Dcm
-	 */
-	Quaternion(const Dcm &dcm);
-
-	/**
-	 * deep copy ctor
-	 */
-	Quaternion(const Quaternion &right);
-
-	/**
-	 * dtor
-	 */
-	virtual ~Quaternion();
-
-	/**
-	 * derivative
-	 */
-	Vector derivative(const Vector &w);
-
-	/**
-	 * accessors
-	 */
-	void setA(float a) { (*this)(0) = a; }
-	void setB(float b) { (*this)(1) = b; }
-	void setC(float c) { (*this)(2) = c; }
-	void setD(float d) { (*this)(3) = d; }
-	const float &getA() const { return (*this)(0); }
-	const float &getB() const { return (*this)(1); }
-	const float &getC() const { return (*this)(2); }
-	const float &getD() const { return (*this)(3); }
-};
-
-int __EXPORT quaternionTest();
-} // math
-