diff --git a/.gitmodules b/.gitmodules
index 1380740989..630eac1ccd 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -58,6 +58,3 @@
 	path = cmake/configs/uavcan_board_ident
 	url = https://github.com/PX4/uavcan_board_ident.git
 	branch = master
-[submodule "src/platforms/posix/lockstep_scheduler"]
-	path = src/platforms/posix/lockstep_scheduler
-	url = https://github.com/julianoes/lockstep-scheduler.git
diff --git a/src/platforms/posix/lockstep_scheduler b/src/platforms/posix/lockstep_scheduler
deleted file mode 160000
index 73abde0f5b..0000000000
--- a/src/platforms/posix/lockstep_scheduler
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 73abde0f5bb7bf3274c23a1e7843f233b23d2271