diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index d7cbacc45d..4837487cd7 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -203,9 +203,6 @@ typedef uint16_t	servo_position_t;
 /** get the lockdown override flag to enable outputs in HIL */
 #define PWM_SERVO_GET_DISABLE_LOCKDOWN		_PX4_IOC(_PWM_SERVO_BASE, 24)
 
-/** force safety switch off (to disable use of safety switch) */
-#define PWM_SERVO_SET_FORCE_SAFETY_OFF		_PX4_IOC(_PWM_SERVO_BASE, 25)
-
 /** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
 #define PWM_SERVO_SET_FORCE_FAILSAFE		_PX4_IOC(_PWM_SERVO_BASE, 26)
 
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index f1de91ed97..e96abb359b 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -489,7 +489,6 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 		break;
 
 	case PWM_SERVO_SET_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 	case PWM_SERVO_CLEAR_ARM_OK:
 	case PWM_SERVO_ARM:
 	case PWM_SERVO_DISARM:
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 733fc51485..177fd175fa 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -767,7 +767,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 		break;
 
 	case PWM_SERVO_DISARM:
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 0aac650b9b..5cceaf9cb5 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1857,12 +1857,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = _lockdown_override;
 		break;
 
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_OFF");
-		/* force safety swith off */
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
-		break;
-
 	case PWM_SERVO_SET_FORCE_FAILSAFE:
 		PX4_DEBUG("PWM_SERVO_SET_FORCE_FAILSAFE");
 
@@ -2461,18 +2455,6 @@ int PX4IO::custom_command(int argc, char *argv[])
 		return 1;
 	}
 
-
-	if (!strcmp(verb, "safety_off")) {
-		int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
-
-		if (ret != OK) {
-			PX4_ERR("failed to disable safety (%i)", ret);
-			return 1;
-		}
-
-		return 0;
-	}
-
 	if (!strcmp(verb, "debug")) {
 		if (argc <= 1) {
 			PX4_ERR("usage: px4io debug LEVEL");
@@ -2563,8 +2545,6 @@ Output driver communicating with the IO co-processor.
 	PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("update", "Update IO firmware");
 	PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("safety_off", "Turn off safety (force)");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("safety_on", "Turn on safety (force)");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("debug", "set IO debug level");
 	PRINT_MODULE_USAGE_ARG("<debug_level>", "0=disabled, 9=max verbosity", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("monitor", "continuously monitor status");
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index fbb7f904bc..20bb5520d1 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -868,7 +868,6 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 	switch (cmd) {
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 		// these are no-ops, as no safety switch
 		break;
 
diff --git a/src/systemcmds/motor_ramp/motor_ramp.cpp b/src/systemcmds/motor_ramp/motor_ramp.cpp
index 077d1fcff8..8d5b549803 100644
--- a/src/systemcmds/motor_ramp/motor_ramp.cpp
+++ b/src/systemcmds/motor_ramp/motor_ramp.cpp
@@ -350,12 +350,6 @@ int prepare(int fd, unsigned long *max_channels)
 		return 1;
 	}
 
-	/* tell IO to switch off safety without using the safety switch */
-	if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != OK) {
-		PX4_ERR("PWM_SERVO_SET_FORCE_SAFETY_OFF");
-		return 1;
-	}
-
 	return 0;
 }