diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index ce88853010..9cf02b8288 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -82,9 +82,6 @@ struct gyro_calibration_s {
 /** set the gyro scaling constants to (arg) */
 #define GYROIOCSSCALE		_GYROIOC(4)
 
-/** set the gyro measurement range to handle at least (arg) degrees per second */
-#define GYROIOCSRANGE		_GYROIOC(6)
-
 /** get the current gyro measurement range in degrees per second */
 #define GYROIOCGRANGE		_GYROIOC(7)
 
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index e2e0fc48b7..0579fcebc0 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -1129,10 +1129,6 @@ ADIS16448::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		_set_gyro_dyn_range(arg);
-		return OK;
-
 	case GYROIOCGRANGE:
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
 
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp
index cf4abb8b61..bc2cbfc9de 100644
--- a/src/drivers/imu/adis16477/ADIS16477.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477.cpp
@@ -450,10 +450,6 @@ ADIS16477::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		_set_gyro_dyn_range(arg);
-		return OK;
-
 	case GYROIOCGRANGE:
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
 
diff --git a/src/drivers/imu/bmi055/BMI055_gyro.cpp b/src/drivers/imu/bmi055/BMI055_gyro.cpp
index 1e28bea0f0..5beb1572e3 100644
--- a/src/drivers/imu/bmi055/BMI055_gyro.cpp
+++ b/src/drivers/imu/bmi055/BMI055_gyro.cpp
@@ -410,9 +410,6 @@ BMI055_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		return set_gyro_range(arg);
-
 	case GYROIOCGRANGE:
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
 
diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp
index 35dcc073b2..d843083e0b 100644
--- a/src/drivers/imu/bmi160/bmi160.cpp
+++ b/src/drivers/imu/bmi160/bmi160.cpp
@@ -711,9 +711,6 @@ BMI160::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		return set_gyro_range(arg);
-
 	case GYROIOCGRANGE:
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
 
diff --git a/src/drivers/imu/fxas21002c/fxas21002c.cpp b/src/drivers/imu/fxas21002c/fxas21002c.cpp
index 76c7eae9b8..30b17f033f 100644
--- a/src/drivers/imu/fxas21002c/fxas21002c.cpp
+++ b/src/drivers/imu/fxas21002c/fxas21002c.cpp
@@ -745,10 +745,6 @@ FXAS21002C::ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		/* arg should be in dps */
-		return set_range(arg);
-
 	case GYROIOCGRANGE:
 		/* convert to dps and round */
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index a4a6dfd17c..ba9045345d 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -669,10 +669,6 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		/* arg should be in dps */
-		return set_range(arg);
-
 	case GYROIOCGRANGE:
 		/* convert to dps and round */
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index ec6fbf668e..0121100bd4 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -1421,13 +1421,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		/* XXX not implemented */
-		// XXX change these two values on set:
-		// _gyro_range_scale = xx
-		// _gyro_range_rad_s = xx
-		return -EINVAL;
-
 	case GYROIOCGRANGE:
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
 
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index c22c7315d6..d9975b4658 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -887,13 +887,6 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		/* XXX not implemented */
-		// XXX change these two values on set:
-		// _gyro_range_scale = xx
-		// _gyro_range_rad_s = xx
-		return -EINVAL;
-
 	case GYROIOCGRANGE:
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
 
diff --git a/src/modules/simulator/gyrosim/gyrosim.cpp b/src/modules/simulator/gyrosim/gyrosim.cpp
index 59b4110a43..fd2eb64f90 100644
--- a/src/modules/simulator/gyrosim/gyrosim.cpp
+++ b/src/modules/simulator/gyrosim/gyrosim.cpp
@@ -755,13 +755,6 @@ GYROSIM::gyro_ioctl(unsigned long cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCSRANGE:
-		/* XXX not implemented */
-		// XXX change these two values on set:
-		// _gyro_range_scale = xx
-		// _gyro_range_rad_s = xx
-		return -EINVAL;
-
 	case GYROIOCGRANGE:
 		return (unsigned long)(_gyro_range_rad_s * 180.0f / M_PI_F + 0.5f);
 
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 958550ecb3..b741950055 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -198,16 +198,6 @@ do_gyro(int argc, char *argv[])
 				return 1;
 			}
 
-		} else if (argc == 3 && !strcmp(argv[0], "range")) {
-
-			/* set the range to i dps */
-			ret = ioctl(fd, GYROIOCSRANGE, strtoul(argv[2], NULL, 0));
-
-			if (ret) {
-				PX4_ERR("range could not be set");
-				return 1;
-			}
-
 		} else {
 			print_usage();
 			return 1;