diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 4c647545cb..9e539aa480 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -248,9 +248,6 @@ struct pwm_output_rc_config {
 /** force safety switch on (to enable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)
 
-/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
-#define PWM_SERVO_SET_RC_CONFIG			_PX4_IOC(_PWM_SERVO_BASE, 29)
-
 /** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
 #define PWM_SERVO_SET_OVERRIDE_OK		_PX4_IOC(_PWM_SERVO_BASE, 30)
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index e8e6ce6595..f5ccca7377 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2842,35 +2842,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 		break;
 
-	case PWM_SERVO_SET_RC_CONFIG: {
-			/* enable setting of RC configuration without relying
-			   on param_get()
-			*/
-			struct pwm_output_rc_config *config = (struct pwm_output_rc_config *)arg;
-
-			if (config->channel >= input_rc_s::RC_INPUT_MAX_CHANNELS) {
-				/* fail with error */
-				return -E2BIG;
-			}
-
-			/* copy values to registers in IO */
-			uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
-			uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE;
-			regs[PX4IO_P_RC_CONFIG_MIN]        = config->rc_min;
-			regs[PX4IO_P_RC_CONFIG_CENTER]     = config->rc_trim;
-			regs[PX4IO_P_RC_CONFIG_MAX]        = config->rc_max;
-			regs[PX4IO_P_RC_CONFIG_DEADZONE]   = config->rc_dz;
-			regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment;
-			regs[PX4IO_P_RC_CONFIG_OPTIONS]    = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-
-			if (config->rc_reverse) {
-				regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
-			}
-
-			ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
-			break;
-		}
-
 	case PWM_SERVO_SET_OVERRIDE_OK:
 		/* set the 'OVERRIDE OK' bit */
 		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK);