diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index e8c6685691..8b46e9ccc8 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -170,9 +170,6 @@ typedef uint16_t	servo_position_t;
 /** start DSM bind */
 #define DSM_BIND_START	_PX4_IOC(_PWM_SERVO_BASE, 10)
 
-/** set the PWM value for failsafe */
-#define PWM_SERVO_SET_FAILSAFE_PWM	_PX4_IOC(_PWM_SERVO_BASE, 12)
-
 /** get the PWM value for failsafe */
 #define PWM_SERVO_GET_FAILSAFE_PWM	_PX4_IOC(_PWM_SERVO_BASE, 13)
 
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 1491d9831b..dde11c17f0 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -750,40 +750,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		*(uint32_t *)arg = _pwm_alt_rate_channels;
 		break;
 
-	case PWM_SERVO_SET_FAILSAFE_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			/* discard if too many values are sent */
-			if (pwm->channel_count > FMU_MAX_ACTUATORS || _mixing_output.useDynamicMixing()) {
-				ret = -EINVAL;
-				break;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] == 0) {
-					/* ignore 0 */
-				} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
-					_mixing_output.failsafeValue(i) = PWM_HIGHEST_MAX;
-
-				}
-
-#if PWM_LOWEST_MIN > 0
-
-				else if (pwm->values[i] < PWM_LOWEST_MIN) {
-					_mixing_output.failsafeValue(i) = PWM_LOWEST_MIN;
-
-				}
-
-#endif
-
-				else {
-					_mixing_output.failsafeValue(i) = pwm->values[i];
-				}
-			}
-
-			break;
-		}
-
 	case PWM_SERVO_GET_FAILSAFE_PWM: {
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 2b7673beba..57d3247e5c 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1652,27 +1652,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
 		break;
 
-	case PWM_SERVO_SET_FAILSAFE_PWM: {
-			PX4_DEBUG("PWM_SERVO_SET_FAILSAFE_PWM");
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			if (pwm->channel_count > _max_actuators)
-				/* fail with error */
-			{
-				return -E2BIG;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
-					_mixing_output.failsafeValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
-				}
-			}
-
-			updateFailsafe();
-
-			break;
-		}
-
 	case PWM_SERVO_GET_FAILSAFE_PWM: {
 			PX4_DEBUG("PWM_SERVO_GET_FAILSAFE_PWM");
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index 60a41d2d99..32e01700de 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -128,7 +128,6 @@ $ pwm test -c 13 -p 1200
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("oneshot", "Configure Oneshot125 (rate is set to 0)");
 
-	PRINT_MODULE_USAGE_COMMAND_DESCR("failsafe", "Set Failsafe PWM value");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("disarmed", "Set Disarmed PWM value");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("min", "Set Minimum PWM value");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("max", "Set Maximum PWM value");
@@ -137,10 +136,10 @@ $ pwm test -c 13 -p 1200
 	PRINT_MODULE_USAGE_COMMAND_DESCR("steps", "Run 5 steps from 0 to 100%");
 
 
-	PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'failsafe', 'disarmed', 'min', 'max' and 'test' require a PWM value:");
+	PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'disarmed', 'min', 'max' and 'test' require a PWM value:");
 	PRINT_MODULE_USAGE_PARAM_INT('p', -1, 0, 4000, "PWM value (eg. 1100)", false);
 
-	PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'rate', 'oneshot', 'failsafe', 'disarmed', 'min', 'max', 'test' and 'steps' "
+	PRINT_MODULE_USAGE_PARAM_COMMENT("The commands 'rate', 'oneshot', 'disarmed', 'min', 'max', 'test' and 'steps' "
 					 "additionally require to specify the channels with one of the following commands:");
 	PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, nullptr, "select channels in the form: 1234 (1 digit per channel, 1=first)",
 					true);
@@ -559,60 +558,6 @@ pwm_main(int argc, char *argv[])
 
 		return 0;
 
-	} else if (!strcmp(command, "failsafe")) {
-
-		if (set_mask == 0) {
-			usage("no channels set");
-			return 1;
-		}
-
-		if (pwm_value < 0) {
-			return 0;
-		}
-
-		if (pwm_value == 0) {
-			usage("failsafe: no PWM provided");
-			return 1;
-		}
-
-		struct pwm_output_values pwm_values {};
-
-		pwm_values.channel_count = servo_count;
-
-		/* first get current state before modifying it */
-		ret = px4_ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
-
-		if (ret != OK) {
-			PX4_ERR("failed get failsafe values");
-			return 1;
-		}
-
-		for (unsigned i = 0; i < servo_count; i++) {
-			if (set_mask & 1 << i) {
-				pwm_values.values[i] = pwm_value;
-
-				if (print_verbose) {
-					PX4_INFO("Channel %d: failsafe PWM: %d", i + 1, pwm_value);
-				}
-			}
-		}
-
-		if (pwm_values.channel_count == 0) {
-			usage("failsafe: no PWM channels");
-			return 1;
-
-		} else {
-
-			ret = px4_ioctl(fd, PWM_SERVO_SET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
-
-			if (ret != OK) {
-				PX4_ERR("BAD input VAL");
-				return 1;
-			}
-		}
-
-		return 0;
-
 	} else if (!strcmp(command, "test")) {
 
 		if (set_mask == 0) {