diff --git a/mavlink_notes.md b/mavlink_notes.md
new file mode 100644
index 0000000000..d7854b81cb
--- /dev/null
+++ b/mavlink_notes.md
@@ -0,0 +1,2 @@
+## Mavlink MAIN Loop
+-
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 1fe0ba684b..c3b7eaf45f 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2139,10 +2139,6 @@ Mavlink::task_main(int argc, char *argv[])
 			_use_software_mav_throttling = true;
 			break;
 
-		case 'w':
-			_wait_to_transmit = true;
-			break;
-
 		case 'x':
 			_ftp_on = true;
 			break;
@@ -2176,7 +2172,6 @@ Mavlink::task_main(int argc, char *argv[])
 		/* USB has no baudrate, but use a magic number for 'fast' */
 		_baudrate = 2000000;
 		_ftp_on = true;
-		_is_usb_uart = true;
 
 		// Always forward messages to/from the USB instance.
 		_forwarding_on = true;
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 9e8de3438d..79fb4c5a0d 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -417,14 +417,9 @@ public:
 
 	float			get_rate_mult() const { return _rate_mult; }
 
-	float			get_baudrate() { return _baudrate; }
-
 	/* Functions for waiting to start transmission until message received. */
 	void			set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
-	bool			get_has_received_messages() { return _received_messages; }
-	void			set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
-	bool			get_wait_to_transmit() { return _wait_to_transmit; }
-	bool			should_transmit() { return (_transmitting_enabled && (!_wait_to_transmit || (_wait_to_transmit && _received_messages))); }
+	bool			should_transmit() { return _transmitting_enabled && _received_messages; }
 
 	/**
 	 * Count transmitted bytes
@@ -458,10 +453,6 @@ public:
 	int 			get_socket_fd() { return _socket_fd; };
 
 #if defined(MAVLINK_UDP)
-	unsigned short		get_network_port() { return _network_port; }
-
-	unsigned short		get_remote_port() { return _remote_port; }
-
 	const in_addr		query_netmask_addr(const int socket_fd, const ifreq &ifreq);
 
 	const in_addr		compute_broadcast_addr(const in_addr &host_addr, const in_addr &netmask_addr);
@@ -477,7 +468,6 @@ public:
 
 	static bool		boot_complete() { return _boot_complete; }
 
-	bool			is_usb_uart() { return _is_usb_uart; }
 
 	int			get_data_rate()		{ return _datarate; }
 	void			set_data_rate(int rate) { if (rate > 0) { _datarate = rate; } }
@@ -602,8 +592,6 @@ private:
 
 	/* states */
 	bool			_hil_enabled{false};		/**< Hardware In the Loop mode */
-	bool			_is_usb_uart{false};		/**< Port is USB */
-	bool			_wait_to_transmit{false};  	/**< Wait to transmit until received messages. */
 	bool			_received_messages{false};	/**< Whether we've received valid mavlink messages. */
 
 	px4::atomic_bool	_should_check_events{false};    /**< Events subscription: only one MAVLink instance should check */
diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index 7fe5a16a67..b17a8d18fd 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -286,55 +286,6 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 	}
 }
 
-// void
-// MavlinkParametersManager::send()
-// {
-// 	if (_first_send) {
-// 		// parameters QGC can't tolerate not finding (2020-11-11)
-// 		param_find("BAT_CRIT_THR");
-// 		param_find("BAT_EMERGEN_THR");
-// 		param_find("BAT_LOW_THR");
-// 		param_find("CAL_ACC0_ID");
-// 		param_find("CAL_GYRO0_ID");
-// 		param_find("CAL_MAG0_ID");
-// 		param_find("CAL_MAG0_ROT");
-// 		param_find("CAL_MAG1_ID");
-// 		param_find("CAL_MAG1_ROT");
-// 		param_find("CAL_MAG2_ID");
-// 		param_find("CAL_MAG2_ROT");
-// 		param_find("CAL_MAG3_ID");
-// 		param_find("CAL_MAG3_ROT");
-// 		param_find("SENS_BOARD_ROT");
-// 		param_find("SENS_BOARD_X_OFF");
-// 		param_find("SENS_BOARD_Y_OFF");
-// 		param_find("SENS_BOARD_Z_OFF");
-// 		param_find("SENS_DPRES_OFF");
-// 		param_find("TRIG_MODE");
-// 		param_find("UAVCAN_ENABLE");
-
-// 		// parameter only used in startup script but should show on ground station
-// 		param_find("SYS_PARAM_VER");
-
-// 		_first_send = false;
-// 	}
-
-// 	int max_num_to_send;
-
-// 	if (_mavlink.get_protocol() == Protocol::SERIAL && !_mavlink.is_usb_uart()) {
-// 		max_num_to_send = 3;
-
-// 	} else {
-// 		// speed up parameter loading via UDP or USB: try to send 20 at once
-// 		max_num_to_send = 20;
-// 	}
-
-// 	int i = 0;
-
-// 	// Send while burst is not exceeded, we still have buffer space and still something to send
-// 	while ((i++ < max_num_to_send) && (_mavlink.get_free_tx_buf() >= get_size()) && !_mavlink.radio_status_critical()
-// 	       && send_params()) {}
-// }
-
 void
 MavlinkParametersManager::send()
 {