diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index b85cb53e28..832962dc5f 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -188,9 +188,6 @@ typedef uint16_t	servo_position_t;
 /** get the maximum PWM value the output will send */
 #define PWM_SERVO_GET_MAX_PWM	_PX4_IOC(_PWM_SERVO_BASE, 19)
 
-/** get the TRIM value the output will send */
-#define PWM_SERVO_GET_TRIM_PWM	_PX4_IOC(_PWM_SERVO_BASE, 21)
-
 /** force safety switch off (to disable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_OFF		_PX4_IOC(_PWM_SERVO_BASE, 25)
 
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index c73c62fa94..61cafe60bb 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -855,20 +855,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		}
 		break;
 
-	case PWM_SERVO_GET_TRIM_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			if (_mixing_output.mixers() == nullptr) {
-				memset(pwm, 0, sizeof(pwm_output_values));
-				PX4_WARN("warning: trim values not valid - no mixer loaded");
-
-			} else {
-
-				pwm->channel_count = _mixing_output.mixers()->get_trims((int16_t *)pwm->values);
-			}
-		}
-		break;
-
 #if defined(DIRECT_PWM_OUTPUT_CHANNELS) && DIRECT_PWM_OUTPUT_CHANNELS >= 14
 
 	case PWM_SERVO_SET(13):
diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index ebc5a566ef..41fd48bffa 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -176,17 +176,6 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-	case PWM_SERVO_GET_TRIM_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
-				pwm->values[i] = (_mixing_output.maxValue(i) + _mixing_output.minValue(i)) / 2;
-			}
-
-			pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
-			break;
-		}
-
 	case PWM_SERVO_GET_MAX_PWM: {
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index c93b075974..217b93ae00 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1735,22 +1735,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		}
 		break;
 
-	case PWM_SERVO_GET_TRIM_PWM: {
-			PX4_DEBUG("PWM_SERVO_GET_TRIM_PWM");
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-			pwm->channel_count = _max_actuators;
-
-			if (_mixing_output.mixers() == nullptr) {
-				memset(pwm, 0, sizeof(pwm_output_values));
-				PX4_WARN("warning: trim values not valid - no mixer loaded");
-
-			} else {
-				pwm->channel_count = _mixing_output.mixers()->get_trims((int16_t *)pwm->values);
-			}
-
-			break;
-		}
-
 	case PWM_SERVO_GET_COUNT:
 		PX4_DEBUG("PWM_SERVO_GET_COUNT");
 		*(unsigned *)arg = _max_actuators;
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index 94a9ab9054..e9f1b4895b 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -765,8 +765,6 @@ err_out_no_test:
 
 		struct pwm_output_values max_pwm;
 
-		struct pwm_output_values trim_pwm;
-
 		ret = px4_ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (unsigned long)&failsafe_pwm);
 
 		if (ret != OK) {
@@ -795,13 +793,6 @@ err_out_no_test:
 			return 1;
 		}
 
-		ret = px4_ioctl(fd, PWM_SERVO_GET_TRIM_PWM, (unsigned long)&trim_pwm);
-
-		if (ret != OK) {
-			PX4_ERR("PWM_SERVO_GET_TRIM_PWM");
-			return 1;
-		}
-
 		/* print current servo values */
 		for (unsigned i = 0; i < servo_count; i++) {
 			servo_position_t spos;
@@ -819,9 +810,8 @@ err_out_no_test:
 				}
 
 
-				printf(" failsafe: %d, disarmed: %" PRIu16 " us, min: %" PRIu16 " us, max: %" PRIu16 " us, trim: %5.2f)",
-				       failsafe_pwm.values[i], disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i],
-				       (double)((int16_t)(trim_pwm.values[i]) / 10000.0f));
+				printf(" failsafe: %d, disarmed: %" PRIu16 " us, min: %" PRIu16 " us, max: %" PRIu16 " us)",
+				       failsafe_pwm.values[i], disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i]);
 				printf("\n");
 
 			} else {