diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 410b492d75..27c8c266fa 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -155,9 +155,6 @@ typedef uint16_t	servo_position_t;
 /** check the selected update rates */
 #define PWM_SERVO_GET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 7)
 
-/** set the 'ARM ok' bit, which activates the safety switch */
-#define PWM_SERVO_SET_ARM_OK	_PX4_IOC(_PWM_SERVO_BASE, 8)
-
 /** clear the 'ARM ok' bit, which deactivates the safety switch */
 #define PWM_SERVO_CLEAR_ARM_OK	_PX4_IOC(_PWM_SERVO_BASE, 9)
 
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index 1748134cdf..3f3eeabf90 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -488,7 +488,6 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 
 		break;
 
-	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
 		break;
 
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 07e660f981..22ce61c25f 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -757,7 +757,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	lock();
 
 	switch (cmd) {
-	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
 		break;
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 46a08bac96..8e75fa32c1 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1621,12 +1621,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 	/* regular ioctl? */
 	switch (cmd) {
-	case PWM_SERVO_SET_ARM_OK:
-		PX4_DEBUG("PWM_SERVO_SET_ARM_OK");
-		/* set the 'OK to arm' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK);
-		break;
-
 	case PWM_SERVO_CLEAR_ARM_OK:
 		PX4_DEBUG("PWM_SERVO_CLEAR_ARM_OK");
 		/* clear the 'OK to arm' bit */
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index 20bb5520d1..c3dc5be71e 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -866,7 +866,6 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 	lock();
 
 	switch (cmd) {
-	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
 		// these are no-ops, as no safety switch
 		break;
diff --git a/src/systemcmds/esc_calib/esc_calib.cpp b/src/systemcmds/esc_calib/esc_calib.cpp
index 7e1f4a1ed2..08e05e03e2 100644
--- a/src/systemcmds/esc_calib/esc_calib.cpp
+++ b/src/systemcmds/esc_calib/esc_calib.cpp
@@ -270,16 +270,6 @@ extern "C" __EXPORT int esc_calib_main(int argc, char *argv[])
 		goto cleanup;
 	}
 
-	/* tell IO/FMU that its ok to disable its safety with the switch */
-	ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
-
-	if (ret != OK) {
-		PX4_ERR("PWM_SERVO_SET_ARM_OK");
-		goto cleanup;
-	}
-
-	printf("Outputs armed");
-
 
 	/* wait for user confirmation */
 	printf("\nHigh PWM set: %d\n"
diff --git a/src/systemcmds/motor_ramp/motor_ramp.cpp b/src/systemcmds/motor_ramp/motor_ramp.cpp
index 6512d6c5a2..b5bd675596 100644
--- a/src/systemcmds/motor_ramp/motor_ramp.cpp
+++ b/src/systemcmds/motor_ramp/motor_ramp.cpp
@@ -338,12 +338,6 @@ int prepare(int fd, unsigned long *max_channels)
 		return 1;
 	}
 
-	/* tell IO/FMU that its ok to disable its safety with the switch */
-	if (px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != OK) {
-		PX4_ERR("PWM_SERVO_SET_ARM_OK");
-		return 1;
-	}
-
 	return 0;
 }