diff --git a/conf/messages.xml b/conf/messages.xml
index 7756ace64b..26e11c916e 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -887,14 +887,7 @@
     <field name="servo" type="uint16[]"/>
   </message>
 
-
-  <message name="STEREO_VELOCITY" id="112">
-    <field name="disparity" type="uint8"/>
-    <field name="distance" type="float"/>
-    <field name="velocity" type="float"/>
-    <field name="velocitySideways" type="float"/>
-    <field name="velocityUpDown" type="float"/>
-  </message>
+  <!--112 is free -->
 
   <message name="MLX_SERIAL" id="113">
     <field name="serial0" type="uint32"/>
diff --git a/conf/telemetry/default_rotorcraft.xml b/conf/telemetry/default_rotorcraft.xml
index a06e2b97b9..b358163be4 100644
--- a/conf/telemetry/default_rotorcraft.xml
+++ b/conf/telemetry/default_rotorcraft.xml
@@ -26,7 +26,6 @@
       <message name="AIR_DATA"               period="1.3"/>
       <message name="SURVEY"                 period="2.5"/>
       <message name="OPTIC_FLOW_EST"         period="0.25"/>
- <message name="STEREO_IMG"         period="0.25"/>
       <message name="VECTORNAV_INFO"      period="0.5"/>
     </mode>
 
diff --git a/sw/airborne/subsystems/abi_sender_ids.h b/sw/airborne/subsystems/abi_sender_ids.h
index 1b67b3c6fa..0750518d7b 100644
--- a/sw/airborne/subsystems/abi_sender_ids.h
+++ b/sw/airborne/subsystems/abi_sender_ids.h
@@ -230,11 +230,5 @@
 #define PX4FLOW_VELOCITY_ID 17
 #endif
 
-#ifndef STEREO_VELOCITY_ID
-#define STEREO_VELOCITY_ID 18
-#endif
-
-
-
 
 #endif /* ABI_SENDER_IDS_H */