diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 27c8c266fa..c84e3eeba7 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)
 
-/** clear the 'ARM ok' bit, which deactivates the safety switch */
-#define PWM_SERVO_CLEAR_ARM_OK	_PX4_IOC(_PWM_SERVO_BASE, 9)
-
 /** start DSM bind */
 #define DSM_BIND_START	_PX4_IOC(_PWM_SERVO_BASE, 10)
 
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index 3f3eeabf90..da12e813be 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -488,9 +488,6 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 
 		break;
 
-	case PWM_SERVO_CLEAR_ARM_OK:
-		break;
-
 	default:
 		ret = -ENOTTY;
 		break;
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 22ce61c25f..499ce2b34c 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -757,9 +757,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	lock();
 
 	switch (cmd) {
-	case PWM_SERVO_CLEAR_ARM_OK:
-		break;
-
 	case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
 		*(uint32_t *)arg = _pwm_default_rate;
 		break;
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 8e75fa32c1..8f719b9bc0 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_CLEAR_ARM_OK:
-		PX4_DEBUG("PWM_SERVO_CLEAR_ARM_OK");
-		/* clear the 'OK to arm' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0);
-		break;
-
 	case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
 		PX4_DEBUG("PWM_SERVO_GET_DEFAULT_UPDATE_RATE");
 		/* get the default update rate */
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index c3dc5be71e..97aecd7fd2 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -866,10 +866,6 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 	lock();
 
 	switch (cmd) {
-	case PWM_SERVO_CLEAR_ARM_OK:
-		// these are no-ops, as no safety switch
-		break;
-
 	case MIXERIOCRESET:
 		_mixing_interface_esc.mixingOutput().resetMixerThreadSafe();
 
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index efe3bb3fee..f709b8bcb4 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -151,7 +151,6 @@ pwm_main(int argc, char *argv[])
 	bool oneshot = false;
 	int ch;
 	int ret;
-	int rv = 1;
 	char *ep;
 	uint32_t set_mask = 0;
 	unsigned group;