diff --git a/msg/versioned/ArmingCheckReply.msg b/msg/versioned/ArmingCheckReply.msg
index 1a1aaa5183..4c1616d849 100644
--- a/msg/versioned/ArmingCheckReply.msg
+++ b/msg/versioned/ArmingCheckReply.msg
@@ -6,7 +6,6 @@ uint8 request_id
 uint8 registration_id
 
 uint8 HEALTH_COMPONENT_INDEX_NONE = 0
-uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19
 
 uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
 bool health_component_is_present
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
index bbba418000..2efa6896c3 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
@@ -40,9 +40,6 @@
 #include <uORB/Publication.hpp>
 #include <px4_platform_common/module_params.h>
 
-static_assert((1ull << arming_check_reply_s::HEALTH_COMPONENT_INDEX_AVOIDANCE) == (uint64_t)
-	      health_component_t::avoidance, "enum definition missmatch");
-
 class ExternalChecks : public HealthAndArmingCheckBase
 {
 public:
diff --git a/src/modules/mavlink/streams/SYS_STATUS.hpp b/src/modules/mavlink/streams/SYS_STATUS.hpp
index c875eaceaa..7a89501793 100644
--- a/src/modules/mavlink/streams/SYS_STATUS.hpp
+++ b/src/modules/mavlink/streams/SYS_STATUS.hpp
@@ -144,7 +144,6 @@ private:
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_BATTERY, health_component_t::battery, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS, health_component_t::motors_escs, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_RECOVERY_SYSTEM, health_component_t::parachute, msg);
-			fillOutComponent(health_report, MAV_SYS_STATUS_OBSTACLE_AVOIDANCE, health_component_t::avoidance, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_3D_ACCEL, health_component_t::accel, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_3D_GYRO, health_component_t::gyro, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_3D_MAG, health_component_t::magnetometer, msg);