diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index b64e6b926849e6..766f4cb835697b 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -165,24 +165,16 @@ void GCS_MAVLINK_Plane::send_attitude_target() {
     float throttle = 0.0f;
     Quaternion quat(0.0f,0.0f,0.0f,0.0f);
 
-#if HAL_QUADPLANE_ENABLED
-    throttle = plane.quadplane.attitude_control->get_throttle_in();
-
-    if (!(plane.g2.flight_options & FlightOptions::GCS_REMOVE_TRIM_PITCH_CD)) {
-        target_p -= radians(plane.g.pitch_trim_cd * 0.01f);
-    }
 
     if (plane.quadplane.show_vtol_view()) {
         const Vector3f rate_targets = plane.quadplane.attitude_control->rate_bf_targets();
-
         target_r = rate_targets.x;
         target_p = rate_targets.y;
         target_y = rate_targets.z;
+        throttle = plane.quadplane.attitude_control->get_throttle_in();
+        quat = plane.quadplane.attitude_control->get_attitude_target_quat();
     }
 
-    quat = plane.quadplane.attitude_control->get_attitude_target_quat();
-#endif
-
     const float quat_out[4] = {quat.q1, quat.q2, quat.q3, quat.q4};
     const uint16_t typemask = 0; 
 
@@ -655,7 +647,9 @@ static const ap_message STREAM_RC_CHANNELS_msgs[] = {
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,
+#if HAL_QUADPLANE_ENABLED
     MSG_ATTITUDE_TARGET,
+#endif 
     MSG_SIMSTATE,
     MSG_AHRS2,
 #if AP_RPM_ENABLED
diff --git a/Tools/autotest/default_params/gazebo_quadplane.parm b/Tools/autotest/default_params/gazebo_quadplane.parm
deleted file mode 100644
index 125df2e1694cf2..00000000000000
--- a/Tools/autotest/default_params/gazebo_quadplane.parm
+++ /dev/null
@@ -1,30 +0,0 @@
-Q_ENABLE 1
-Q_FRAME_CLASS 1
-Q_FRAME_TYPE 1
-Q_TRANSITION_MS 5000
-SERVO1_FUNCTION 77
-SERVO2_FUNCTION 78
-SERVO3_FUNCTION 19
-SERVO4_FUNCTION 70
-SERVO4_MIN      1000
-SERVO5_FUNCTION 33
-SERVO6_FUNCTION 34
-SERVO7_FUNCTION 35
-SERVO8_FUNCTION 36
-# we need small INS_ACC offsets so INS is recognised as being calibrated
-INS_ACCOFFS_X   0.001
-INS_ACCOFFS_Y   0.001
-INS_ACCOFFS_Z   0.001
-INS_ACCSCAL_X   1.001
-INS_ACCSCAL_Y   1.001
-INS_ACCSCAL_Z   1.001
-INS_ACC2OFFS_X   0.001
-INS_ACC2OFFS_Y   0.001
-INS_ACC2OFFS_Z   0.001
-INS_ACC2SCAL_X   1.001
-INS_ACC2SCAL_Y   1.001
-INS_ACC2SCAL_Z   1.001
-INS_GYR_CAL      0
-ARSPD_TYPE 0
-BATT_MONITOR    4
-BATT_CAPACITY   50000 #We don't want to get low battery warnings when testing
\ No newline at end of file
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
index 1527e199b55617..fbcb2b54df0d60 100644
--- a/Tools/autotest/pysim/vehicleinfo.py
+++ b/Tools/autotest/pysim/vehicleinfo.py
@@ -299,11 +299,6 @@ def __init__(self):
                 "default_params_filename": "default_params/gazebo-zephyr.parm",
                 "external": True,
             },
-            "gazebo-quadplane": {
-                "waf_target": "bin/arduplane",
-                "default_params_filename": "default_params/gazebo_quadplane.parm",
-            },
-
             "last_letter": {
                 "waf_target": "bin/arduplane",
                 "default_params_filename": "models/plane.parm",