diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index dbdc61ca6c..44eb559907 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -59,20 +59,6 @@ const AP_Param::GroupInfo AP_PiccoloCAN::var_info[] = {
     // @Range: 2 100
     AP_GROUPINFO("ESC_MS", 2, AP_PiccoloCAN, _esc_ms, PICCOLO_MSG_RATE_MS_DEFAULT),
 
-    // @Param: SRV_BM
-    // @DisplayName: Servo channels
-    // @Description: Bitmask defining which servo channels are to be transmitted over PiccoloCAN
-    // @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16
-    // @User: Advanced
-    AP_GROUPINFO("SRV_BM", 3, AP_PiccoloCAN, _srv_bm, 0),
-
-    // @Param: SRV_MS
-    // @DisplayName: Servo command rate
-    // @Description: Output rate of servo command messages
-    // @Units: ms
-    // @Range: 2 100
-    AP_GROUPINFO("SRV_MS", 4, AP_PiccoloCAN, _srv_ms, PICCOLO_MSG_RATE_MS_DEFAULT),
-
     AP_GROUPEND
 };
 
@@ -152,7 +138,6 @@ void AP_PiccoloCAN::loop()
 #define CMD_TX_PERIOD 10
 
     uint16_t esc_tx_counter = 0;
-    uint16_t srv_tx_counter = 0;
 
     // CAN Frame ID components
     uint8_t frame_id_group;     // Piccolo message group
@@ -182,15 +167,6 @@ void AP_PiccoloCAN::loop()
             }
         }
 
-        // Transmit servo commands at regular intervals
-        if (srv_tx_counter++ > _srv_ms) {
-            srv_tx_counter = 0;
-
-            if (_srv_ms >= PICCOLO_MSG_RATE_MS_MIN) {
-                // TODO - Transmit servo messages
-            }
-        }
-
         // Look for any message responses on the CAN bus
         while (read_frame(rxFrame, timeout)) {
             frame_id_group = (rxFrame.id >> 24) & 0x1F;
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
index 2a4df6a9f8..8cb6f4a786 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
@@ -136,9 +136,6 @@ private:
     } _esc_info[PICCOLO_CAN_MAX_NUM_ESC];
 
     // Piccolo CAN parameters
-    AP_Int32 _srv_bm;       //! Servo selection bitmask
-    AP_Int32 _srv_ms;       //! Servo update rate (ms)
-
     AP_Int32 _esc_bm;       //! ESC selection bitmask
     AP_Int32 _esc_ms;       //! ESC update rate (ms)