diff --git a/apps/drivers/drv_mixer.h b/apps/drivers/drv_mixer.h
index 793e86b324..498ca98360 100644
--- a/apps/drivers/drv_mixer.h
+++ b/apps/drivers/drv_mixer.h
@@ -100,24 +100,6 @@ struct mixer_simple_s {
  */
 #define MIXERIOCADDSIMPLE	_MIXERIOC(2)
 
-/** multirotor output definition */
-struct mixer_rotor_output_s {
-	float			angle;		/**< rotor angle clockwise from forward in radians */
-	float			distance;	/**< motor distance from centre in arbitrary units */
-};
-
-/** multirotor mixer */
-struct mixer_multirotor_s {
-	uint8_t			rotor_count;
-	struct mixer_control_s	controls[4];	/**< controls are roll, pitch, yaw, thrust */
-	struct mixer_rotor_output_s rotors[0];	/**< actual size of the array is set by rotor_count */
-};
-
-/**
- * Add a multirotor mixer in (struct mixer_multirotor_s *)arg
- */
-#define MIXERIOCADDMULTIROTOR	_MIXERIOC(3)
-
 /**
  * Add mixers(s) from a the file in (const char *)arg
  */
diff --git a/apps/drivers/hil/hil.cpp b/apps/drivers/hil/hil.cpp
index 67b16aa42f..0780f3bb25 100644
--- a/apps/drivers/hil/hil.cpp
+++ b/apps/drivers/hil/hil.cpp
@@ -577,11 +577,6 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-	case MIXERIOCADDMULTIROTOR:
-		/* XXX not yet supported */
-		ret = -ENOTTY;
-		break;
-
 	case MIXERIOCLOADFILE: {
 			const char *path = (const char *)arg;
 
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index a995f6214d..e212507279 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -544,11 +544,6 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-	case MIXERIOCADDMULTIROTOR:
-		/* XXX not yet supported */
-		ret = -ENOTTY;
-		break;
-
 	case MIXERIOCLOADFILE: {
 			const char *path = (const char *)arg;
 
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index 9f3dba047f..d185a1ac4d 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -609,11 +609,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		}
 		break;
 
-	case MIXERIOCADDMULTIROTOR:
-		/* XXX not yet supported */
-		ret = -ENOTTY;
-		break;
-
 	case MIXERIOCLOADFILE: {
 			MixerGroup *newmixers;
 			const char *path = (const char *)arg;