diff --git a/src/drivers/imu/mpu9250/MPU9250_mag.cpp b/src/drivers/imu/mpu9250/MPU9250_mag.cpp
index 0e8ac242d7..efd4e6cf0a 100644
--- a/src/drivers/imu/mpu9250/MPU9250_mag.cpp
+++ b/src/drivers/imu/mpu9250/MPU9250_mag.cpp
@@ -56,8 +56,6 @@ MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, enum Rotati
 	_px4_mag(parent->_interface->get_device_id(), (parent->_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH),
 		 rotation),
 	_parent(parent),
-	_mag_reads(perf_alloc(PC_COUNT, "mpu9250_mag_reads")),
-	_mag_errors(perf_alloc(PC_COUNT, "mpu9250_mag_errors")),
 	_mag_overruns(perf_alloc(PC_COUNT, "mpu9250_mag_overruns")),
 	_mag_overflows(perf_alloc(PC_COUNT, "mpu9250_mag_overflows")),
 	_mag_duplicates(perf_alloc(PC_COUNT, "mpu9250_mag_duplicates"))
@@ -68,8 +66,6 @@ MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, enum Rotati
 
 MPU9250_mag::~MPU9250_mag()
 {
-	perf_free(_mag_reads);
-	perf_free(_mag_errors);
 	perf_free(_mag_overruns);
 	perf_free(_mag_overflows);
 	perf_free(_mag_duplicates);
@@ -126,7 +122,7 @@ MPU9250_mag::_measure(hrt_abstime timestamp_sample, struct ak8963_regs data)
 
 	_px4_mag.set_external(_parent->is_external());
 	_px4_mag.set_temperature(_parent->_last_temperature);
-	_px4_mag.set_error_count(perf_event_count(_mag_errors));
+	//_px4_mag.set_error_count(perf_event_count(_mag_errors));
 
 	/*
 	 * Align axes - note the accel & gryo are also re-aligned so this
diff --git a/src/drivers/imu/mpu9250/MPU9250_mag.h b/src/drivers/imu/mpu9250/MPU9250_mag.h
index d340b0ef8a..f07e35b3a4 100644
--- a/src/drivers/imu/mpu9250/MPU9250_mag.h
+++ b/src/drivers/imu/mpu9250/MPU9250_mag.h
@@ -169,8 +169,6 @@ private:
 
 	bool _mag_reading_data{false};
 
-	perf_counter_t _mag_reads;
-	perf_counter_t _mag_errors;
 	perf_counter_t _mag_overruns;
 	perf_counter_t _mag_overflows;
 	perf_counter_t _mag_duplicates;
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index adb8790a25..dcae094c73 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -91,13 +91,10 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 	_selected_bank(0xFF),	// invalid/improbable bank value, will be set on first read/write
 	_magnetometer_only(magnetometer_only),
 	_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
-	_accel_reads(perf_alloc(PC_COUNT, "mpu9250_acc_read")),
-	_gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu9250_read")),
 	_bad_transfers(perf_alloc(PC_COUNT, "mpu9250_bad_trans")),
 	_bad_registers(perf_alloc(PC_COUNT, "mpu9250_bad_reg")),
 	_good_transfers(perf_alloc(PC_COUNT, "mpu9250_good_trans")),
-	_reset_retries(perf_alloc(PC_COUNT, "mpu9250_reset")),
 	_duplicates(perf_alloc(PC_COUNT, "mpu9250_dupe"))
 {
 	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU9250);
@@ -111,12 +108,9 @@ MPU9250::~MPU9250()
 
 	/* delete the perf counter */
 	perf_free(_sample_perf);
-	perf_free(_accel_reads);
-	perf_free(_gyro_reads);
 	perf_free(_bad_transfers);
 	perf_free(_bad_registers);
 	perf_free(_good_transfers);
-	perf_free(_reset_retries);
 	perf_free(_duplicates);
 }
 
@@ -805,12 +799,9 @@ void
 MPU9250::print_info()
 {
 	perf_print_counter(_sample_perf);
-	perf_print_counter(_accel_reads);
-	perf_print_counter(_gyro_reads);
 	perf_print_counter(_bad_transfers);
 	perf_print_counter(_bad_registers);
 	perf_print_counter(_good_transfers);
-	perf_print_counter(_reset_retries);
 	perf_print_counter(_duplicates);
 
 	if (!_magnetometer_only) {
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index d47ee5ad30..66fbc7e4f2 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -279,13 +279,10 @@ private:
 
 	unsigned		_sample_rate{1000};
 
-	perf_counter_t		_accel_reads;
-	perf_counter_t		_gyro_reads;
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
 	perf_counter_t		_bad_registers;
 	perf_counter_t		_good_transfers;
-	perf_counter_t		_reset_retries;
 	perf_counter_t		_duplicates;
 
 	uint8_t			_register_wait{0};