diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index b23cc6528e..ca35d80078 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -59,7 +59,6 @@ set(msg_file_names
 	follow_target.msg
 	fw_pos_ctrl_status.msg
 	geofence_result.msg
-	geofence_update.msg
 	gps_dump.msg
 	gps_inject_data.msg
 	hil_sensor.msg
diff --git a/msg/geofence_update.msg b/msg/geofence_update.msg
deleted file mode 100644
index e05aeaadc0..0000000000
--- a/msg/geofence_update.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-# This message is used to notify the system about a geofence update (dataman
-# storage)
-
-uint32 dummy       # unused
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 2257e24d30..9af274007f 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -51,7 +51,6 @@
 #include <px4_defines.h>
 
 #include <navigator/navigation.h>
-#include <uORB/topics/geofence_update.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
 
@@ -88,7 +87,6 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
 	_offboard_mission_sub(-1),
 	_mission_result_sub(-1),
 	_offboard_mission_pub(nullptr),
-	_geofence_update_pub(nullptr),
 	_slow_rate_limiter(100 * 1000), // Rate limit sending of the current WP sequence to 10 Hz
 	_verbose(mavlink->verbose()),
 	_mavlink(mavlink)
@@ -103,7 +101,6 @@ MavlinkMissionManager::~MavlinkMissionManager()
 {
 	orb_unsubscribe(_mission_result_sub);
 	orb_unadvertise(_offboard_mission_pub);
-	orb_unadvertise(_geofence_update_pub);
 }
 
 void
@@ -214,9 +211,6 @@ MavlinkMissionManager::update_geofence_count(unsigned count)
 	if (res == sizeof(mission_stats_entry_s)) {
 		_count[(uint8_t)MAV_MISSION_TYPE_FENCE] = count;
 
-		geofence_update_s geofence_update{};
-		orb_publish_auto(ORB_ID(geofence_update), &_geofence_update_pub, &geofence_update, nullptr, ORB_PRIO_DEFAULT);
-
 	} else {
 		PX4_ERR("WPM: can't save mission state");
 
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
index aef649358d..832d23f7a5 100644
--- a/src/modules/mavlink/mavlink_mission.h
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -126,7 +126,6 @@ private:
 	int			_offboard_mission_sub;
 	int			_mission_result_sub;
 	orb_advert_t		_offboard_mission_pub;
-	orb_advert_t		_geofence_update_pub;
 
 	MavlinkRateLimiter	_slow_rate_limiter;
 
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 825036d445..159160034a 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -236,7 +236,6 @@ private:
 	int		_param_update_sub{-1};		/**< param update subscription */
 	int		_sensor_combined_sub{-1};	/**< sensor combined subscription */
 	int		_vehicle_command_sub{-1};	/**< vehicle commands (onboard and offboard) */
-	int		_geofence_update_sub{-1};	/**< geofence updates */
 	int		_vstatus_sub{-1};		/**< vehicle status subscription */
 
 	orb_advert_t	_att_sp_pub{nullptr};
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 830cd29dd6..cfebbd1c82 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -65,7 +65,6 @@
 #include <arch/board/board.h>
 
 #include <uORB/uORB.h>
-#include <uORB/topics/geofence_update.h>
 #include <uORB/topics/fw_pos_ctrl_status.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/mission.h>
@@ -252,7 +251,6 @@ Navigator::task_main()
 	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
 	_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
 	_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
-	_geofence_update_sub = orb_subscribe(ORB_ID(geofence_update));
 
 	/* copy all topics first time */
 	vehicle_status_update();
@@ -346,15 +344,6 @@ Navigator::task_main()
 			params_update();
 		}
 
-		/* geofence updated */
-		orb_check(_geofence_update_sub, &updated);
-
-		if (updated) {
-			geofence_update_s geofence_update;
-			orb_copy(ORB_ID(geofence_update), _geofence_update_sub, &geofence_update);
-			_geofence.updateFence();
-		}
-
 		/* vehicle status updated */
 		orb_check(_vstatus_sub, &updated);
 
@@ -706,8 +695,6 @@ Navigator::task_main()
 	_param_update_sub = -1;
 	orb_unsubscribe(_vehicle_command_sub);
 	_vehicle_command_sub = -1;
-	orb_unsubscribe(_geofence_update_sub);
-	_geofence_update_sub = -1;
 
 	PX4_INFO("exiting");