diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 5dba02b79d..7cb8de9416 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -213,9 +213,6 @@ struct pwm_output_rc_config {
 /** get the maximum PWM value the output will send */
 #define PWM_SERVO_GET_MAX_PWM	_PX4_IOC(_PWM_SERVO_BASE, 19)
 
-/** set the TRIM value the output will send */
-#define PWM_SERVO_SET_TRIM_PWM	_PX4_IOC(_PWM_SERVO_BASE, 20)
-
 /** get the TRIM value the output will send */
 #define PWM_SERVO_GET_TRIM_PWM	_PX4_IOC(_PWM_SERVO_BASE, 21)
 
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index aa37daabb0..9b3f0b9117 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -906,29 +906,6 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-	case PWM_SERVO_SET_TRIM_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			/* discard if too many values are sent */
-			if (pwm->channel_count > FMU_MAX_ACTUATORS) {
-				PX4_DEBUG("error: too many trim values: %d", pwm->channel_count);
-				ret = -EINVAL;
-				break;
-			}
-
-			if (_mixing_output.mixers() == nullptr) {
-				PX4_ERR("error: no mixer loaded");
-				ret = -EIO;
-				break;
-			}
-
-			/* copy the trim values to the mixer offsets */
-			_mixing_output.mixers()->set_trims((int16_t *)pwm->values, pwm->channel_count);
-			PX4_DEBUG("set_trims: %d, %d, %d, %d", pwm->values[0], pwm->values[1], pwm->values[2], pwm->values[3]);
-
-			break;
-		}
-
 	case PWM_SERVO_GET_TRIM_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 ea66d6a1e8..acd7c3b4c8 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2647,20 +2647,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 		break;
 
-	case PWM_SERVO_SET_TRIM_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			if (pwm->channel_count > _max_actuators)
-				/* fail with error */
-			{
-				return -E2BIG;
-			}
-
-			/* copy values to registers in IO */
-			ret = io_reg_set(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm->values, pwm->channel_count);
-			break;
-		}
-
 	case PWM_SERVO_GET_TRIM_PWM: {
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 			pwm->channel_count = _max_actuators;