diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index c98efeec3ede4c..aec9a92b6ebf17 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -968,7 +968,6 @@ class Copter : public AP_Vehicle {
     void convert_prx_parameters();
 #endif
     void convert_lgr_parameters(void);
-    void convert_tradheli_parameters(void) const;
 
     // precision_landing.cpp
     void init_precland();
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 94d04cf5ed6c40..89338db67c3069 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1316,53 +1316,10 @@ ParametersG2::ParametersG2(void) :
     AP_Param::setup_object_defaults(this, var_info2);
 }
 
-/*
-  This is a conversion table from old parameter values to new
-  parameter names. The startup code looks for saved values of the old
-  parameters and will copy them across to the new parameters if the
-  new parameter does not yet have a saved value. It then saves the new
-  value.
-
-  Note that this works even if the old parameter has been removed. It
-  relies on the old k_param index not being removed
-
-  The second column below is the index in the var_info[] table for the
-  old object. This should be zero for top level parameters.
- */
-const AP_Param::ConversionInfo conversion_table[] = {
-    // PARAMETER_CONVERSION - Added: Jan-2017
-    { Parameters::k_param_arming_check_old,   0,      AP_PARAM_INT8,  "ARMING_CHECK" },
-    // battery
-    // PARAMETER_CONVERSION - Added: Mar-2018
-    { Parameters::k_param_fs_batt_voltage,    0,      AP_PARAM_FLOAT,  "BATT_LOW_VOLT" },
-    { Parameters::k_param_fs_batt_mah,        0,      AP_PARAM_FLOAT,  "BATT_LOW_MAH" },
-    { Parameters::k_param_failsafe_battery_enabled,0, AP_PARAM_INT8,   "BATT_FS_LOW_ACT" },
-
-    // PARAMETER_CONVERSION - Added: Aug-2018
-    { Parameters::Parameters::k_param_ch7_option_old,   0,      AP_PARAM_INT8,  "RC7_OPTION" },
-    { Parameters::Parameters::k_param_ch8_option_old,   0,      AP_PARAM_INT8,  "RC8_OPTION" },
-    { Parameters::Parameters::k_param_ch9_option_old,   0,      AP_PARAM_INT8,  "RC9_OPTION" },
-    { Parameters::Parameters::k_param_ch10_option_old,   0,      AP_PARAM_INT8,  "RC10_OPTION" },
-    { Parameters::Parameters::k_param_ch11_option_old,   0,      AP_PARAM_INT8,  "RC11_OPTION" },
-    { Parameters::Parameters::k_param_ch12_option_old,   0,      AP_PARAM_INT8,  "RC12_OPTION" },
-    // PARAMETER_CONVERSION - Added: Apr-2019
-    { Parameters::k_param_compass_enabled_deprecated,    0,      AP_PARAM_INT8, "COMPASS_ENABLE" },
-    // PARAMETER_CONVERSION - Added: Jul-2019
-    { Parameters::k_param_arming,             2,     AP_PARAM_INT16,  "ARMING_CHECK" },
-};
-
 void Copter::load_parameters(void)
 {
     AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
-
-#if AP_LANDINGGEAR_ENABLED
-    // convert landing gear parameters
-    // PARAMETER_CONVERSION - Added: Nov-2018
-    convert_lgr_parameters();
-#endif
-
 #if MODE_RTL_ENABLED
     // PARAMETER_CONVERSION - Added: Sep-2021
     g.rtl_altitude.convert_parameter_width(AP_PARAM_INT16);
@@ -1413,103 +1370,26 @@ void Copter::load_parameters(void)
 void Copter::convert_pid_parameters(void)
 {
     const AP_Param::ConversionInfo angle_and_filt_conversion_info[] = {
-        // PARAMETER_CONVERSION - Added: Jan-2018
-        { Parameters::k_param_pid_rate_yaw, 6, AP_PARAM_FLOAT, "ATC_RAT_YAW_FILT" },
-        { Parameters::k_param_pi_vel_xy, 0, AP_PARAM_FLOAT, "PSC_VELXY_P" },
-        { Parameters::k_param_pi_vel_xy, 1, AP_PARAM_FLOAT, "PSC_VELXY_I" },
-        { Parameters::k_param_pi_vel_xy, 2, AP_PARAM_FLOAT, "PSC_VELXY_IMAX" },
         // PARAMETER_CONVERSION - Added: Aug-2021
         { Parameters::k_param_pi_vel_xy, 3, AP_PARAM_FLOAT, "PSC_VELXY_FLTE" },
-        // PARAMETER_CONVERSION - Added: Jan-2018
-        { Parameters::k_param_p_vel_z, 0, AP_PARAM_FLOAT, "PSC_VELZ_P" },
-        { Parameters::k_param_pid_accel_z, 0, AP_PARAM_FLOAT, "PSC_ACCZ_P" },
-        { Parameters::k_param_pid_accel_z, 1, AP_PARAM_FLOAT, "PSC_ACCZ_I" },
-        { Parameters::k_param_pid_accel_z, 2, AP_PARAM_FLOAT, "PSC_ACCZ_D" },
-        { Parameters::k_param_pid_accel_z, 5, AP_PARAM_FLOAT, "PSC_ACCZ_IMAX" },
-        // PARAMETER_CONVERSION - Added: Oct-2019
-        { Parameters::k_param_pid_accel_z, 6, AP_PARAM_FLOAT, "PSC_ACCZ_FLTE" },
-        // PARAMETER_CONVERSION - Added: Jan-2018
-        { Parameters::k_param_p_alt_hold, 0, AP_PARAM_FLOAT, "PSC_POSZ_P" },
-        { Parameters::k_param_p_pos_xy, 0, AP_PARAM_FLOAT, "PSC_POSXY_P" },
-    };
-    const AP_Param::ConversionInfo loiter_conversion_info[] = {
-        // PARAMETER_CONVERSION - Added: Apr-2018
-        { Parameters::k_param_wp_nav, 4, AP_PARAM_FLOAT, "LOIT_SPEED" },
-        { Parameters::k_param_wp_nav, 7, AP_PARAM_FLOAT, "LOIT_BRK_JERK" },
-        { Parameters::k_param_wp_nav, 8, AP_PARAM_FLOAT, "LOIT_ACC_MAX" },
-        { Parameters::k_param_wp_nav, 9, AP_PARAM_FLOAT, "LOIT_BRK_ACCEL" }
     };
 
     // convert angle controller gain and filter without scaling
     for (const auto &info : angle_and_filt_conversion_info) {
         AP_Param::convert_old_parameter(&info, 1.0f);
     }
-    // convert RC_FEEL_RP to ATC_INPUT_TC
-    // PARAMETER_CONVERSION - Added: Mar-2018
-    const AP_Param::ConversionInfo rc_feel_rp_conversion_info = { Parameters::k_param_rc_feel_rp, 0, AP_PARAM_INT8, "ATC_INPUT_TC" };
-    AP_Int8 rc_feel_rp_old;
-    if (AP_Param::find_old_parameter(&rc_feel_rp_conversion_info, &rc_feel_rp_old)) {
-        AP_Param::set_default_by_name(rc_feel_rp_conversion_info.new_name, (1.0f / (2.0f + rc_feel_rp_old.get() * 0.1f)));
-    }
-    // convert loiter parameters
-    for (const auto &info : loiter_conversion_info) {
-        AP_Param::convert_old_parameter(&info, 1.0f);
-    }
 
     // TradHeli default parameters
 #if FRAME_CONFIG == HELI_FRAME
     static const struct AP_Param::defaults_table_struct heli_defaults_table[] = {
-        // PARAMETER_CONVERSION - Added: Nov-2018
-        { "LOIT_ACC_MAX", 500.0f },
-        { "LOIT_BRK_ACCEL", 125.0f },
-        { "LOIT_BRK_DELAY", 1.0f },
-        { "LOIT_BRK_JERK", 250.0f },
-        { "LOIT_SPEED", 3000.0f },
-        { "PHLD_BRAKE_ANGLE", 800.0f },
-        { "PHLD_BRAKE_RATE", 4.0f },
-        { "PSC_ACCZ_P", 0.28f },
-        { "PSC_VELXY_D", 0.0f },
-        { "PSC_VELXY_I", 0.5f },
-        { "PSC_VELXY_P", 1.0f },
-        // PARAMETER_CONVERSION - Added: Jan-2019
-        { "RC8_OPTION", 32 },
-        // PARAMETER_CONVERSION - Added: Aug-2018
+        // PARAMETER_CONVERSION - Added: Aug-2020
         { "RC_OPTIONS", 0 },
         // PARAMETER_CONVERSION - Added: Feb-2022
         { "ATC_RAT_RLL_ILMI", 0.05},
         { "ATC_RAT_PIT_ILMI", 0.05},
     };
     AP_Param::set_defaults_from_table(heli_defaults_table, ARRAY_SIZE(heli_defaults_table));
-#endif
-
-    // attitude and position control filter parameter changes (from _FILT to FLTD, FLTE, FLTT) for Copter-4.0
-    // magic numbers shown below are discovered by setting AP_PARAM_KEY_DUMP = 1
-    const AP_Param::ConversionInfo ff_and_filt_conversion_info[] = {
-#if FRAME_CONFIG == HELI_FRAME
-        // tradheli moves ATC_RAT_RLL/PIT_FILT to FLTE, ATC_RAT_YAW_FILT to FLTE
-        // PARAMETER_CONVERSION - Added: Jul-2019
-        { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTE" },
-        { Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTE" },
-        { Parameters::k_param_attitude_control, 388, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
-#else
-        // multicopters move ATC_RAT_RLL/PIT_FILT to FLTD & FLTT, ATC_RAT_YAW_FILT to FLTE
-        { Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTD" },
-        // PARAMETER_CONVERSION - Added: Oct-2019
-        { Parameters::k_param_attitude_control, 385, AP_PARAM_FLOAT, "ATC_RAT_RLL_FLTT" },
-        // PARAMETER_CONVERSION - Added: Jul-2019
-        { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTD" },
-        // PARAMETER_CONVERSION - Added: Oct-2019
-        { Parameters::k_param_attitude_control, 386, AP_PARAM_FLOAT, "ATC_RAT_PIT_FLTT" },
-        // PARAMETER_CONVERSION - Added: Jul-2019
-        { Parameters::k_param_attitude_control, 387, AP_PARAM_FLOAT, "ATC_RAT_YAW_FLTE" },
-        { Parameters::k_param_attitude_control, 449, AP_PARAM_FLOAT, "ATC_RAT_RLL_FF" },
-        { Parameters::k_param_attitude_control, 450, AP_PARAM_FLOAT, "ATC_RAT_PIT_FF" },
-        { Parameters::k_param_attitude_control, 451, AP_PARAM_FLOAT, "ATC_RAT_YAW_FF" },
-#endif
-        // PARAMETER_CONVERSION - Added: Oct-2019
-        { Parameters::k_param_pos_control, 388, AP_PARAM_FLOAT, "PSC_ACCZ_FLTE" },
-    };
-    AP_Param::convert_old_parameters(&ff_and_filt_conversion_info[0], ARRAY_SIZE(ff_and_filt_conversion_info));
+#endif  // FRAME_CONFIG == HELI_FRAME
 
 #if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
 #if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
@@ -1582,275 +1462,3 @@ void Copter::convert_prx_parameters()
     }
 }
 #endif
-
-#if AP_LANDINGGEAR_ENABLED
-/*
-  convert landing gear parameters
- */
-void Copter::convert_lgr_parameters(void)
-{
-    // PARAMETER_CONVERSION - Added: Nov-2018
-
-    // convert landing gear PWM values
-    uint8_t chan;
-    if (!SRV_Channels::find_channel(SRV_Channel::k_landing_gear_control, chan)) {
-        return;
-    }
-    // parameter names are 1 based
-    chan += 1;
-
-    char pname[17];
-    AP_Int16 *servo_min, *servo_max, *servo_trim;
-    AP_Int16 *servo_reversed;
-
-    enum ap_var_type ptype;
-    // get pointers to the servo min, max and trim parameters
-    snprintf(pname, sizeof(pname), "SERVO%u_MIN", chan);
-    servo_min = (AP_Int16 *)AP_Param::find(pname, &ptype);
-
-    snprintf(pname, sizeof(pname), "SERVO%u_MAX", chan);
-    servo_max = (AP_Int16 *)AP_Param::find(pname, &ptype);
-
-    snprintf(pname, sizeof(pname), "SERVO%u_TRIM", chan);
-    servo_trim = (AP_Int16 *)AP_Param::find(pname, &ptype);
-
-    snprintf(pname, sizeof(pname), "SERVO%u_REVERSED", chan & 0x3F); // Only use the 6 LSBs, avoids a cpp warning
-    servo_reversed = (AP_Int16 *)AP_Param::find(pname, &ptype);
-
-    if (!servo_min || !servo_max || !servo_trim || !servo_reversed) {
-        // this shouldn't happen
-        return;
-    }
-    if (servo_min->configured() ||
-        servo_max->configured() ||
-        servo_trim->configured() ||
-        servo_reversed->configured()) {
-        // has been previously saved, don't upgrade
-        return;
-    }
-
-    // get the old PWM values
-    AP_Int16 old_pwm;
-    uint16_t old_retract=0, old_deploy=0;
-    const AP_Param::ConversionInfo cinfo_ret { Parameters::k_param_landinggear, 0, AP_PARAM_INT16, nullptr };
-    const AP_Param::ConversionInfo cinfo_dep { Parameters::k_param_landinggear, 1, AP_PARAM_INT16, nullptr };
-    if (AP_Param::find_old_parameter(&cinfo_ret, &old_pwm)) {
-        old_retract = (uint16_t)old_pwm.get();
-    }
-    if (AP_Param::find_old_parameter(&cinfo_dep, &old_pwm)) {
-        old_deploy = (uint16_t)old_pwm.get();
-    }
-
-    if (old_retract == 0 && old_deploy == 0) {
-        // old parameters were never set
-        return;
-    }
-
-    // use old defaults
-    if (old_retract == 0) {
-        old_retract = 1250;
-    }
-    if (old_deploy == 0) {
-        old_deploy = 1750;
-    }
-
-    // set and save correct values on the servo
-    if (old_retract <= old_deploy) {
-        servo_max->set_and_save(old_deploy);
-        servo_min->set_and_save(old_retract);
-        servo_trim->set_and_save(old_retract);
-        servo_reversed->set_and_save_ifchanged(0);
-    } else {
-        servo_max->set_and_save(old_retract);
-        servo_min->set_and_save(old_deploy);
-        servo_trim->set_and_save(old_deploy);
-        servo_reversed->set_and_save_ifchanged(1);
-    }
-}
-#endif
-
-#if FRAME_CONFIG == HELI_FRAME
-// handle conversion of tradheli parameters from Copter-3.6 to Copter-3.7
-void Copter::convert_tradheli_parameters(void) const
-{
-        // PARAMETER_CONVERSION - Added: Mar-2019
-    if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI) {
-        // single heli conversion info
-        const AP_Param::ConversionInfo singleheli_conversion_info[] = {
-            { Parameters::k_param_motors, 1, AP_PARAM_INT16, "H_SW_H3_SV1_POS" },
-            { Parameters::k_param_motors, 2, AP_PARAM_INT16, "H_SW_H3_SV2_POS" },
-            { Parameters::k_param_motors, 3, AP_PARAM_INT16, "H_SW_H3_SV3_POS" },
-            { Parameters::k_param_motors, 7, AP_PARAM_INT16, "H_SW_H3_PHANG" },
-            { Parameters::k_param_motors, 19, AP_PARAM_INT8, "H_SW_COL_DIR" },
-        };
-
-        // convert single heli parameters without scaling
-        uint8_t table_size = ARRAY_SIZE(singleheli_conversion_info);
-        for (uint8_t i=0; i<table_size; i++) {
-            AP_Param::convert_old_parameter(&singleheli_conversion_info[i], 1.0f);
-        }
-
-        // convert to known swash type for setups that match
-        // PARAMETER_CONVERSION - Added: Sep-2019
-        AP_Int16 swash_pos_1, swash_pos_2, swash_pos_3, swash_phang; 
-        AP_Int8  swash_type;
-        bool swash_pos1_exist = AP_Param::find_old_parameter(&singleheli_conversion_info[0], &swash_pos_1);
-        bool swash_pos2_exist = AP_Param::find_old_parameter(&singleheli_conversion_info[1], &swash_pos_2);
-        bool swash_pos3_exist = AP_Param::find_old_parameter(&singleheli_conversion_info[2], &swash_pos_3);
-        bool swash_phang_exist = AP_Param::find_old_parameter(&singleheli_conversion_info[3], &swash_phang);
-        const AP_Param::ConversionInfo swash_type_info { Parameters::k_param_motors, 5, AP_PARAM_INT8, "H_SW_TYPE" };
-        bool swash_type_exists = AP_Param::find_old_parameter(&swash_type_info, &swash_type);
-
-        if (swash_type_exists) {
-            // convert swash type to new parameter
-            AP_Param::convert_old_parameter(&swash_type_info, 1.0f);
-        } else {
-        // old swash type is not in eeprom and thus type is default value of generic swash
-            if (swash_pos1_exist || swash_pos2_exist || swash_pos3_exist || swash_phang_exist) {
-                // if any params exist with the generic swash then the upgraded swash type must be generic
-                // find the new variable in the variable structures
-                enum ap_var_type ptype;
-                AP_Param *ap2;
-                ap2 = AP_Param::find("H_SW_TYPE", &ptype);
-                // make sure the pointer is valid
-                if (ap2 != nullptr) {
-                    // see if we can load it from EEPROM
-                    if (!ap2->configured()) {
-                        // the new parameter is not in storage so set generic swash
-                        AP_Param::set_and_save_by_name("H_SW_TYPE", SwashPlateType::SWASHPLATE_TYPE_H3);            
-                    }
-                }
-            }
-        }
-    } else if (g2.frame_class.get() == AP_Motors::MOTOR_FRAME_HELI_DUAL) {
-        // dual heli conversion info
-        const AP_Param::ConversionInfo dualheli_conversion_info[] = {
-            { Parameters::k_param_motors, 1, AP_PARAM_INT16, "H_SW_H3_SV1_POS" },
-            { Parameters::k_param_motors, 2, AP_PARAM_INT16, "H_SW_H3_SV2_POS" },
-            { Parameters::k_param_motors, 3, AP_PARAM_INT16, "H_SW_H3_SV3_POS" },
-        // PARAMETER_CONVERSION - Added: Mar-2019
-            { Parameters::k_param_motors, 4, AP_PARAM_INT16, "H_SW2_H3_SV1_POS" },
-            { Parameters::k_param_motors, 5, AP_PARAM_INT16, "H_SW2_H3_SV2_POS" },
-            { Parameters::k_param_motors, 6, AP_PARAM_INT16, "H_SW2_H3_SV3_POS" },
-        // PARAMETER_CONVERSION - Added: Sep-2019
-            { Parameters::k_param_motors, 7, AP_PARAM_INT16, "H_SW_H3_PHANG" },
-        // PARAMETER_CONVERSION - Added: Mar-2019
-            { Parameters::k_param_motors, 8, AP_PARAM_INT16, "H_SW2_H3_PHANG" },
-        // PARAMETER_CONVERSION - Added: Sep-2019
-            { Parameters::k_param_motors, 19, AP_PARAM_INT8, "H_SW_COL_DIR" },
-        // PARAMETER_CONVERSION - Added: Mar-2019
-            { Parameters::k_param_motors, 19, AP_PARAM_INT8, "H_SW2_COL_DIR" },
-        };
-
-        // convert dual heli parameters without scaling
-        uint8_t table_size = ARRAY_SIZE(dualheli_conversion_info);
-        for (uint8_t i=0; i<table_size; i++) {
-            AP_Param::convert_old_parameter(&dualheli_conversion_info[i], 1.0f);
-        }
-
-
-        // PARAMETER_CONVERSION - Added: Sep-2019
-
-        // convert to known swash type for setups that match
-        AP_Int16 swash1_pos_1, swash1_pos_2, swash1_pos_3, swash1_phang, swash2_pos_1, swash2_pos_2, swash2_pos_3, swash2_phang; 
-        bool swash1_pos1_exist = AP_Param::find_old_parameter(&dualheli_conversion_info[0], &swash1_pos_1);
-        bool swash1_pos2_exist = AP_Param::find_old_parameter(&dualheli_conversion_info[1], &swash1_pos_2);
-        bool swash1_pos3_exist = AP_Param::find_old_parameter(&dualheli_conversion_info[2], &swash1_pos_3);
-        bool swash1_phang_exist = AP_Param::find_old_parameter(&dualheli_conversion_info[6], &swash1_phang);
-        bool swash2_pos1_exist = AP_Param::find_old_parameter(&dualheli_conversion_info[3], &swash2_pos_1);
-        bool swash2_pos2_exist = AP_Param::find_old_parameter(&dualheli_conversion_info[4], &swash2_pos_2);
-        bool swash2_pos3_exist = AP_Param::find_old_parameter(&dualheli_conversion_info[5], &swash2_pos_3);
-        bool swash2_phang_exist = AP_Param::find_old_parameter(&dualheli_conversion_info[7], &swash2_phang);
-
-        // SWASH 1
-        // old swash type is not in eeprom and thus type is default value of generic swash
-        if (swash1_pos1_exist || swash1_pos2_exist || swash1_pos3_exist || swash1_phang_exist) {
-            // if any params exist with the generic swash then the upgraded swash type must be generic
-            // find the new variable in the variable structures
-            enum ap_var_type ptype;
-            AP_Param *ap2;
-            ap2 = AP_Param::find("H_SW_TYPE", &ptype);
-            // make sure the pointer is valid
-            if (ap2 != nullptr) {
-                // see if we can load it from EEPROM
-                if (!ap2->configured()) {
-                    // the new parameter is not in storage so set generic swash
-                    AP_Param::set_and_save_by_name("H_SW_TYPE", SwashPlateType::SWASHPLATE_TYPE_H3);            
-                }
-            }
-        }
-        //SWASH 2
-        // old swash type is not in eeprom and thus type is default value of generic swash
-        if (swash2_pos1_exist || swash2_pos2_exist || swash2_pos3_exist || swash2_phang_exist) {
-            // if any params exist with the generic swash then the upgraded swash type must be generic
-            // find the new variable in the variable structures
-            enum ap_var_type ptype;
-            AP_Param *ap2;
-            ap2 = AP_Param::find("H_SW2_TYPE", &ptype);
-            // make sure the pointer is valid
-            if (ap2 != nullptr) {
-                // see if we can load it from EEPROM
-                if (!ap2->configured()) {
-                    // the new parameter is not in storage so set generic swash
-                    AP_Param::set_and_save_by_name("H_SW2_TYPE", SwashPlateType::SWASHPLATE_TYPE_H3);            
-                }
-            }
-        }
-    }
-
-    // table of rsc parameters to be converted with scaling
-    const AP_Param::ConversionInfo rschelipct_conversion_info[] = {
-        { Parameters::k_param_motors, 1280, AP_PARAM_INT16, "H_RSC_THRCRV_0" },
-        { Parameters::k_param_motors, 1344, AP_PARAM_INT16, "H_RSC_THRCRV_25" },
-        { Parameters::k_param_motors, 1408, AP_PARAM_INT16, "H_RSC_THRCRV_50" },
-        { Parameters::k_param_motors, 1472, AP_PARAM_INT16, "H_RSC_THRCRV_75" },
-        { Parameters::k_param_motors, 1536, AP_PARAM_INT16, "H_RSC_THRCRV_100" },
-        { Parameters::k_param_motors, 448, AP_PARAM_INT16, "H_RSC_SETPOINT" },
-        { Parameters::k_param_motors, 768, AP_PARAM_INT16, "H_RSC_CRITICAL" },
-        { Parameters::k_param_motors, 832, AP_PARAM_INT16, "H_RSC_IDLE" },
-    };
-    // convert heli rsc parameters with scaling
-    uint8_t table_size = ARRAY_SIZE(rschelipct_conversion_info);
-    for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&rschelipct_conversion_info[i], 0.1f);
-    }
-
-    // table of rsc parameters to be converted without scaling
-    const AP_Param::ConversionInfo rscheli_conversion_info[] = {
-        { Parameters::k_param_motors, 512, AP_PARAM_INT8,  "H_RSC_MODE" },
-        { Parameters::k_param_motors, 640, AP_PARAM_INT8,  "H_RSC_RAMP_TIME" },
-        { Parameters::k_param_motors, 704, AP_PARAM_INT8,  "H_RSC_RUNUP_TIME" },
-        { Parameters::k_param_motors, 1216, AP_PARAM_INT16,"H_RSC_SLEWRATE" },
-    };
-    // convert heli rsc parameters without scaling
-    table_size = ARRAY_SIZE(rscheli_conversion_info);
-    for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&rscheli_conversion_info[i], 1.0f);
-    }
-
-    // update tail speed parameter with scaling
-    AP_Int16 *tailspeed;
-    enum ap_var_type ptype;
-    tailspeed = (AP_Int16 *)AP_Param::find("H_TAIL_SPEED", &ptype);
-    if (tailspeed != nullptr && tailspeed->get() > 100 ) {
-        uint16_t tailspeed_pct = (uint16_t)(0.1f * tailspeed->get());
-        AP_Param::set_and_save_by_name("H_TAIL_SPEED", tailspeed_pct );
-    }
-
-    // PARAMETER_CONVERSION - Added: Dec-2019
-    // table of stabilize collective parameters to be converted with scaling
-    const AP_Param::ConversionInfo collhelipct_conversion_info[] = {
-        { Parameters::k_param_input_manager, 1, AP_PARAM_INT16,  "IM_STB_COL_1" },
-        { Parameters::k_param_input_manager, 2, AP_PARAM_INT16,  "IM_STB_COL_2" },
-        { Parameters::k_param_input_manager, 3, AP_PARAM_INT16,  "IM_STB_COL_3" },
-        { Parameters::k_param_input_manager, 4, AP_PARAM_INT16,  "IM_STB_COL_4" },
-    };
-
-    // convert stabilize collective parameters with scaling
-    table_size = ARRAY_SIZE(collhelipct_conversion_info);
-    for (uint8_t i=0; i<table_size; i++) {
-        AP_Param::convert_old_parameter(&collhelipct_conversion_info[i], 0.1f);
-    }
-
-}
-#endif
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 7c5ffd3201388d..1709fb076923be 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -507,7 +507,6 @@ void Copter::allocate_motors(void)
     // upgrade parameters. This must be done after allocating the objects
     convert_pid_parameters();
 #if FRAME_CONFIG == HELI_FRAME
-    convert_tradheli_parameters();
     motors->heli_motors_param_conversions();
 #endif