diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
index 467c5802a..7e5d85cde 100644
--- a/gtsam/navigation/NavState.cpp
+++ b/gtsam/navigation/NavState.cpp
@@ -239,7 +239,6 @@ Matrix7 NavState::wedge(const Vector9& xi) {
 #define D_v_v(H) (H)->block<3,3>(6,6)
 
 //------------------------------------------------------------------------------
-#if defined(GTSAM_ALLOW_DEPRECATED_SINCE_V4) || !defined(GTSAM_TANGENT_PREINTEGRATION)
 NavState NavState::update(const Vector3& b_acceleration, const Vector3& b_omega,
     const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1,
     OptionalJacobian<9, 3> G2) const {
@@ -282,7 +281,6 @@ NavState NavState::update(const Vector3& b_acceleration, const Vector3& b_omega,
   }
   return newState;
 }
-#endif
 
 //------------------------------------------------------------------------------
 Vector9 NavState::coriolis(double dt, const Vector3& omega, bool secondOrder,
diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h
index ed87a32d4..02da46317 100644
--- a/gtsam/navigation/NavState.h
+++ b/gtsam/navigation/NavState.h
@@ -203,13 +203,11 @@ public:
   /// @name Dynamics
   /// @{
 
-#if defined(GTSAM_ALLOW_DEPRECATED_SINCE_V4) || !defined(GTSAM_TANGENT_PREINTEGRATION)
   /// Integrate forward in time given angular velocity and acceleration in body frame
   /// Uses second order integration for position, returns derivatives except dt.
   NavState update(const Vector3& b_acceleration, const Vector3& b_omega,
       const double dt, OptionalJacobian<9, 9> F, OptionalJacobian<9, 3> G1,
       OptionalJacobian<9, 3> G2) const;
-#endif
 
   /// Compute tangent space contribution due to Coriolis forces
   Vector9 coriolis(double dt, const Vector3& omega, bool secondOrder = false,