diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 615fa8ce10..9f4922516a 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -27,7 +27,6 @@
 #include "AP_GPS_MTK.h"
 #include "AP_GPS_MTK19.h"
 #include "AP_GPS_NMEA.h"
-#include "AP_GPS_PX4.h"
 #include "AP_GPS_QURT.h"
 #include "AP_GPS_SBF.h"
 #include "AP_GPS_SBP.h"
diff --git a/libraries/AP_GPS/AP_GPS_PX4.cpp b/libraries/AP_GPS/AP_GPS_PX4.cpp
deleted file mode 100644
index a2edff4957..0000000000
--- a/libraries/AP_GPS/AP_GPS_PX4.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-//  GPS proxy driver for APM on PX4 platforms
-//
-//  This driver subscribes on PX4s vehicle_gps_position topic and presents the data received to APM.
-//  The publisher could be an UAVCAN GNSS module like http://docs.zubax.com/Zubax_GNSS, or any other GNSS
-//  hardware supported by the PX4 ecosystem.
-//
-//  Code by Holger Steinhaus
-
-#include <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-#include "AP_GPS_PX4.h"
-
-#include <uORB/uORB.h>
-
-#include <cmath>
-
-extern const AP_HAL::HAL& hal;
-
-AP_GPS_PX4::AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
-    AP_GPS_Backend(_gps, _state, _port)
-{
-    _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-}
-
-AP_GPS_PX4::~AP_GPS_PX4()
-{
-	orb_unsubscribe(_gps_sub);
-}
-
-// update internal state if new GPS information is available
-bool
-AP_GPS_PX4::read(void)
-{
-    bool updated = false;
-    orb_check(_gps_sub, &updated);
-
-    if (updated) {
-        if (OK == orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps_pos)) {
-            state.last_gps_time_ms = AP_HAL::millis();
-            state.status  = (AP_GPS::GPS_Status) (_gps_pos.fix_type | AP_GPS::NO_FIX);
-            state.num_sats = _gps_pos.satellites_used;
-            state.hdop = uint16_t(_gps_pos.eph*100.0f + .5f);
-
-            if (_gps_pos.fix_type >= 2) {
-                state.location.lat = _gps_pos.lat;
-                state.location.lng = _gps_pos.lon;
-                state.location.alt = _gps_pos.alt/10;
-
-                state.ground_speed = _gps_pos.vel_m_s;
-                state.ground_course = wrap_360(degrees(_gps_pos.cog_rad));
-                state.hdop = _gps_pos.eph*100;
-
-                // convert epoch timestamp back to gps epoch - evil hack until we get the genuine
-                // raw week information (or APM switches to Posix epoch ;-) )
-                const uint64_t posix_offset = 3657ULL * 24 * 3600 * 1000 - GPS_LEAPSECONDS_MILLIS;
-                const uint64_t ms_per_week = 7ULL * 24 * 3600 * 1000;
-                uint64_t epoch_ms = _gps_pos.time_utc_usec/1000;
-                uint64_t gps_ms = epoch_ms - posix_offset;
-                state.time_week = (uint16_t)(gps_ms / ms_per_week);
-                state.time_week_ms = (uint32_t)(gps_ms - (state.time_week) * ms_per_week);
-
-                if (_gps_pos.time_utc_usec == 0) {
-                  // This is a work-around for https://github.com/PX4/Firmware/issues/1474
-                  // reject position reports with invalid time, as APM adjusts it's clock after the first lock has been acquired
-                  state.status = AP_GPS::NO_FIX;
-                }
-            }
-            if (_gps_pos.fix_type >= 3) {
-                state.have_vertical_velocity = _gps_pos.vel_ned_valid;
-                state.velocity.x = _gps_pos.vel_n_m_s;
-                state.velocity.y = _gps_pos.vel_e_m_s;
-                state.velocity.z = _gps_pos.vel_d_m_s;
-                state.speed_accuracy = _gps_pos.s_variance_m_s;
-                state.have_speed_accuracy = true;
-            }
-            else {
-                state.have_vertical_velocity = false;
-            }
-        }
-    }
-
-    return updated;
-}
-#endif
diff --git a/libraries/AP_GPS/AP_GPS_PX4.h b/libraries/AP_GPS/AP_GPS_PX4.h
deleted file mode 100644
index 9c687cb079..0000000000
--- a/libraries/AP_GPS/AP_GPS_PX4.h
+++ /dev/null
@@ -1,41 +0,0 @@
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-//
-//  GPS proxy driver for APM on PX4 platforms
-//  Code by Holger Steinhaus
-//
-#pragma once
-
-#include <AP_HAL/AP_HAL.h>
-
-#include "AP_GPS.h"
-#include "GPS_Backend.h"
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-#include <modules/uORB/topics/vehicle_gps_position.h>
-
-class AP_GPS_PX4 : public AP_GPS_Backend {
-public:
-    AP_GPS_PX4(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
-    ~AP_GPS_PX4();
-
-    bool read();
-
-private:
-    int                           _gps_sub;
-    struct vehicle_gps_position_s _gps_pos;
-};
-#endif // CONFIG_HAL_BOARD