diff --git a/QGCCommon.pri b/QGCCommon.pri
index 350cd8e..92b6af4 100644
--- a/QGCCommon.pri
+++ b/QGCCommon.pri
@@ -181,7 +181,6 @@ installer {
 
 # Setup our supported build flavors
 
-message($$CONFIG)
 CONFIG(debug, debug|release) {
     message(Debug flavor)
     CONFIG += DebugBuild
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 4f370b5..1757cdc 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1030,17 +1030,7 @@ void Vehicle::_handleDistanceSensor(mavlink_message_t& message)
 {
     mavlink_distance_sensor_t distanceSensor;
 
-    mavlink_msg_distance_sensor_decode(&message, &distanceSensor);\
-
-    if (!_distanceSensorFactGroup.idSet()) {
-        _distanceSensorFactGroup.setIdSet(true);
-        _distanceSensorFactGroup.setId(distanceSensor.id);
-    }
-
-    if (_distanceSensorFactGroup.id() != distanceSensor.id) {
-        // We can only handle a single sensor reporting
-        return;
-    }
+    mavlink_msg_distance_sensor_decode(&message, &distanceSensor);
 
     struct orientation2Fact_s {
         MAV_SENSOR_ORIENTATION  orientation;
@@ -4354,8 +4344,6 @@ VehicleDistanceSensorFactGroup::VehicleDistanceSensorFactGroup(QObject* parent)
     , _rotationYaw315Fact   (0, _rotationYaw315FactName,    FactMetaData::valueTypeDouble)
     , _rotationPitch90Fact  (0, _rotationPitch90FactName,   FactMetaData::valueTypeDouble)
     , _rotationPitch270Fact (0, _rotationPitch270FactName,  FactMetaData::valueTypeDouble)
-    , _idSet                (false)
-    , _id                   (0)
 {
     _addFact(&_rotationNoneFact,        _rotationNoneFactName);
     _addFact(&_rotationYaw45Fact,       _rotationYaw45FactName);
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 023c576..9368bf8 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -76,11 +76,6 @@ public:
     Fact* rotationPitch90   (void) { return &_rotationPitch90Fact; }
     Fact* rotationPitch270  (void) { return &_rotationPitch270Fact; }
 
-    bool idSet(void) { return _idSet; }
-    void setIdSet(bool idSet) { _idSet = idSet; }
-    uint8_t id(void) { return _id; }
-    void setId(uint8_t id) { _id = id; }
-
     static const char* _rotationNoneFactName;
     static const char* _rotationYaw45FactName;
     static const char* _rotationYaw90FactName;
@@ -103,9 +98,6 @@ private:
     Fact _rotationYaw315Fact;
     Fact _rotationPitch90Fact;
     Fact _rotationPitch270Fact;
-
-    bool    _idSet; // true: _id is set to seen sensor id
-    uint8_t _id;    // The id for the sensor being tracked. Current support for only a single sensor.
 };
 
 class VehicleSetpointFactGroup : public FactGroup