diff --git a/conf/boards/tiny_2.11.makefile b/conf/boards/tiny_2.11.makefile
index 33c35ec77c..fd92507e9a 100644
--- a/conf/boards/tiny_2.11.makefile
+++ b/conf/boards/tiny_2.11.makefile
@@ -40,8 +40,6 @@ ADC_IR_TOP = ADC_0
 ADC_IR1 = ADC_1
 ADC_IR2 = ADC_2
 ADC_IR_NB_SAMPLES = 16
-ADC_GYRO_ROLL = ADC_3
-ADC_GYRO_PITCH = ADC_4
 ADC_GYRO_NB_SAMPLES = 16
 
 ADC_GENERIC_NB_SAMPLES = 16
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index 97dcd81ca0..68610ffc7e 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -39,7 +39,6 @@
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "subsystems/gps.h"
-#include "gyro.h"
 #include "ap_downlink.h"
 #include "subsystems/nav.h"
 #include "firmwares/fixedwing/autopilot.h"
@@ -392,10 +391,6 @@ static void navigation_task( void ) {
 
 static inline void attitude_loop( void ) {
 
-#ifdef USE_GYRO
-  gyro_update();
-#endif
-
 #ifdef USE_INFRARED
   ahrs_update_infrared();
 #endif /* USE_INFRARED */
@@ -540,9 +535,6 @@ void init_ap( void ) {
 #endif /* SINGLE_MCU */
 
   /************* Sensors initialization ***************/
-#ifdef USE_GYRO
-  gyro_init();
-#endif
 #ifdef USE_GPS
   gps_init();
 #endif
diff --git a/sw/airborne/gyro.c b/sw/airborne/gyro.c
deleted file mode 100644
index b8f6bfa77c..0000000000
--- a/sw/airborne/gyro.c
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2006  Pascal Brisset, Antoine Drouin
- *
- * This file is part of paparazzi.
- *
- * paparazzi 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 2, or (at your option)
- * any later version.
- *
- * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** \file gyro.c
- * \brief Basic code for gyro acquisition on ADC channels
- *
-*/
-
-#include BOARD_CONFIG
-#include "gyro.h"
-#include "std.h"
-#include "mcu_periph/adc.h"
-#include "generated/airframe.h"
-#include "estimator.h"
-
-int16_t roll_rate_adc;
-float temp_comp; /* Needed for the downlinked message */
-static struct adc_buf buf_roll;
-
-#define RadiansOfADC(_adc, scale) RadOfDeg((_adc * scale))
-
-#if defined ADC_CHANNEL_GYRO_TEMP
-static struct adc_buf buf_temp;
-#endif
-
-#if defined ADC_CHANNEL_GYRO_PITCH
-int16_t pitch_rate_adc;
-static struct adc_buf buf_pitch;
-#endif
-
-void gyro_init( void) {
-#ifndef SITL
-  adc_buf_channel(ADC_CHANNEL_GYRO_ROLL, &buf_roll, ADC_CHANNEL_GYRO_NB_SAMPLES);
-#if defined ADC_CHANNEL_GYRO_TEMP
-  adc_buf_channel(ADC_CHANNEL_GYRO_TEMP, &buf_temp, ADC_CHANNEL_GYRO_NB_SAMPLES);
-#endif
-#if defined ADC_CHANNEL_GYRO_PITCH
-  adc_buf_channel(ADC_CHANNEL_GYRO_PITCH, &buf_pitch, ADC_CHANNEL_GYRO_NB_SAMPLES);
-#endif
-#endif /* SITL */
-}
-
-
-
-void gyro_update( void ) {
-#ifndef SITL
-  float pitch_rate = 0.;
-  roll_rate_adc = (buf_roll.sum/buf_roll.av_nb_sample) - GYRO_ADC_ROLL_NEUTRAL;
-#if defined ADC_CHANNEL_GYRO_TEMP
-  temp_comp = buf_temp.sum/buf_temp.av_nb_sample - GYRO_ADC_TEMP_NEUTRAL;
-  roll_rate_adc += GYRO_ADC_TEMP_SLOPE * temp_comp;
-#endif
-#if defined IDG300
-  pitch_rate_adc = buf_pitch.sum/buf_pitch.av_nb_sample - GYRO_ADC_PITCH_NEUTRAL;
-  pitch_rate = GYRO_PITCH_DIRECTION * RadiansOfADC(pitch_rate_adc, GYRO_PITCH_SCALE);
-#endif
-  float roll_rate = GYRO_ROLL_DIRECTION * RadiansOfADC(roll_rate_adc, GYRO_ROLL_SCALE);
-  EstimatorSetRate(roll_rate, pitch_rate);
-#endif /* SITL */
-}
diff --git a/sw/airborne/gyro.h b/sw/airborne/gyro.h
deleted file mode 100644
index 2974ba79dc..0000000000
--- a/sw/airborne/gyro.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2006  Pascal Brisset, Antoine Drouin
- *
- * This file is part of paparazzi.
- *
- * paparazzi 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 2, or (at your option)
- * any later version.
- *
- * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- */
-
-/** \file gyro.h
- * \brief Basic code for gyro acquisition on ADC channels
- *
-*/
-
-#ifndef GYRO_H
-#define GYRO_H
-
-#include <inttypes.h>
-
-#ifdef GYRO
-#error "The flag GYRO has been deprecated. Please replace it with USE_GYRO."
-#endif
-
-/** Raw (for debug), taking into accound neutral and temp compensation (if any) */
-extern int16_t roll_rate_adc;
-
-
-/** Hardware dependent code */
-#if defined ADXRS150
-extern float temp_comp;
-#elif defined IDG300
-extern int16_t pitch_rate_adc;
-#endif
-
-void gyro_init( void );
-
-/** Sets roll_rate_adc and pitch_rate_adc (or temp_comp), and estimator_p */
-void gyro_update( void );
-
-#endif /* GYRO_H */