diff --git a/msg/TelemetryStatus.msg b/msg/TelemetryStatus.msg
index 48d85f934d..b2b3920a36 100644
--- a/msg/TelemetryStatus.msg
+++ b/msg/TelemetryStatus.msg
@@ -51,13 +51,11 @@ bool heartbeat_type_open_drone_id           # MAV_TYPE_ODID
 bool heartbeat_component_telemetry_radio    # MAV_COMP_ID_TELEMETRY_RADIO
 bool heartbeat_component_log                # MAV_COMP_ID_LOG
 bool heartbeat_component_osd                # MAV_COMP_ID_OSD
-bool heartbeat_component_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE
 bool heartbeat_component_vio                # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY
 bool heartbeat_component_pairing_manager    # MAV_COMP_ID_PAIRING_MANAGER
 bool heartbeat_component_udp_bridge         # MAV_COMP_ID_UDP_BRIDGE
 bool heartbeat_component_uart_bridge        # MAV_COMP_ID_UART_BRIDGE
 
 # Misc component health
-bool avoidance_system_healthy
 bool open_drone_id_system_healthy
 bool parachute_system_healthy
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 6afab95313..0b06a24b76 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2193,11 +2193,6 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 				_heartbeat_component_osd = now;
 				break;
 
-			case MAV_COMP_ID_OBSTACLE_AVOIDANCE:
-				_heartbeat_component_obstacle_avoidance = now;
-				_mavlink.telemetry_status().avoidance_system_healthy = (hb.system_status == MAV_STATE_ACTIVE);
-				break;
-
 			case MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY:
 				_heartbeat_component_visual_inertial_odometry = now;
 				break;
@@ -2909,7 +2904,6 @@ void MavlinkReceiver::CheckHeartbeats(const hrt_abstime &t, bool force)
 		tstatus.heartbeat_component_telemetry_radio    = (t <= TIMEOUT + _heartbeat_component_telemetry_radio);
 		tstatus.heartbeat_component_log                = (t <= TIMEOUT + _heartbeat_component_log);
 		tstatus.heartbeat_component_osd                = (t <= TIMEOUT + _heartbeat_component_osd);
-		tstatus.heartbeat_component_obstacle_avoidance = (t <= TIMEOUT + _heartbeat_component_obstacle_avoidance);
 		tstatus.heartbeat_component_vio                = (t <= TIMEOUT + _heartbeat_component_visual_inertial_odometry);
 		tstatus.heartbeat_component_pairing_manager    = (t <= TIMEOUT + _heartbeat_component_pairing_manager);
 		tstatus.heartbeat_component_udp_bridge         = (t <= TIMEOUT + _heartbeat_component_udp_bridge);
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 84ad2e7c62..3d617a7731 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -394,7 +394,6 @@ private:
 	hrt_abstime _heartbeat_component_telemetry_radio{0};
 	hrt_abstime _heartbeat_component_log{0};
 	hrt_abstime _heartbeat_component_osd{0};
-	hrt_abstime _heartbeat_component_obstacle_avoidance{0};
 	hrt_abstime _heartbeat_component_visual_inertial_odometry{0};
 	hrt_abstime _heartbeat_component_pairing_manager{0};
 	hrt_abstime _heartbeat_component_udp_bridge{0};