diff --git a/ROMFS/px4fmu_common/init.d/rc.mavlink b/ROMFS/px4fmu_common/init.d/rc.mavlink
index 4c9f58c40b..451de95649 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mavlink
+++ b/ROMFS/px4fmu_common/init.d/rc.mavlink
@@ -11,128 +11,3 @@ then
 	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 fi
 
-#
-# SYS_COMPANION transition support. Can be removed after the next release (currently at 1.8.0)
-#
-if param compare SYS_COMPANION 319200
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 1000
-	param set SER_TEL2_BAUD 19200
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 519200
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 7
-	param set MAV_1_RATE 1000
-	param set SER_TEL2_BAUD 19200
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 338400
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 1000
-	param set SER_TEL2_BAUD 38400
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 538400
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 7
-	param set MAV_1_RATE 1000
-	param set SER_TEL2_BAUD 38400
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 57600
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 2
-	param set MAV_1_RATE 5000
-	param set SER_TEL2_BAUD 57600
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 157600
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 3
-	param set MAV_1_RATE 1000
-	param set SER_TEL2_BAUD 57600
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 257600
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_MODE 4
-	param set MAV_1_RATE 5000
-	param set SER_TEL2_BAUD 57600
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 357600
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 1000
-	param set SER_TEL2_BAUD 57600
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 557600
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 1000
-	param set MAV_1_MODE 7
-	param set SER_TEL2_BAUD 57600
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 3115200
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 1000
-	param set SER_TEL2_BAUD 115200
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 4115200
-then
-	# Iridium
-	param set ISBD_CONFIG 102
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 5115200
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 1000
-	param set MAV_1_MODE 7
-	param set SER_TEL2_BAUD 115200
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 460800
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 5000
-	param set MAV_1_MODE 2
-	param set SER_TEL2_BAUD 460800
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 921600
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 80000
-	param set MAV_1_MODE 2
-	param set SER_TEL2_BAUD 921600
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 1921600
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 20000
-	param set SER_TEL2_BAUD 921600
-	param set SYS_COMPANION 0
-fi
-if param compare SYS_COMPANION 1500000
-then
-	param set MAV_1_CONFIG 102
-	param set MAV_1_RATE 140000
-	param set MAV_1_MODE 2
-	param set SER_TEL2_BAUD 1500000
-	param set SYS_COMPANION 0
-fi
-
diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c
index c2fa371eaa..f0041bef89 100644
--- a/src/lib/systemlib/system_params.c
+++ b/src/lib/systemlib/system_params.c
@@ -110,39 +110,6 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
  */
 PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);
 
-/**
- * TELEM2 as companion computer link (deprecated)
- *
- * This parameter is deprecated and will be removed after 1.9.0. Use the generic serial
- * configuration parameters instead (e.g. MAV_0_CONFIG, MAV_0_MODE, etc.).
- *
- * @value 0 Disabled
- * @value 10 FrSky Telemetry
- * @value 20 Crazyflie (Syslink)
- * @value 921600 Companion Link (921600 baud, 8N1)
- * @value 57600 Companion Link (57600 baud, 8N1)
- * @value 1500000 Companion Link (1500000 baud, 8N1)
- * @value 157600 OSD (57600 baud, 8N1)
- * @value 257600 Command Receiver (57600 baud, 8N1)
- * @value 319200 Normal Telemetry (19200 baud, 8N1)
- * @value 338400 Normal Telemetry (38400 baud, 8N1)
- * @value 357600 Normal Telemetry (57600 baud, 8N1)
- * @value 3115200 Normal Telemetry (115200 baud, 8N1)
- * @value 4115200 Iridium Telemetry (115200 baud, 8N1)
- * @value 519200 Minimal Telemetry (19200 baud, 8N1)
- * @value 538400 Minimal Telemetry (38400 baud, 8N1)
- * @value 557600 Minimal Telemetry (57600 baud, 8N1)
- * @value 5115200 Minimal Telemetry (115200 baud, 8N1)
- * @value 6460800 RTPS Client (460800 baud)
- * @value 1921600 ESP8266 (921600 baud, 8N1)
- *
- * @min 0
- * @max 6460800
- * @reboot_required true
- * @group System
- */
-PARAM_DEFINE_INT32(SYS_COMPANION, 0);
-
 /**
  * Parameter version
  *