diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 02eee61359..9f6e1282fd 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -73,7 +73,6 @@ set(msg_files
 	multirotor_motor_limits.msg
 	offboard_control_mode.msg
 	optical_flow.msg
-	output_pwm.msg
 	parameter_update.msg
 	position_setpoint.msg
 	position_setpoint_triplet.msg
diff --git a/msg/output_pwm.msg b/msg/output_pwm.msg
deleted file mode 100644
index 1418a43e6e..0000000000
--- a/msg/output_pwm.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-uint8 PWM_OUTPUT_MAX_CHANNELS = 16
-uint16[16] values
-uint32 channel_count
diff --git a/msg/tools/uorb_rtps_message_ids.py b/msg/tools/uorb_rtps_message_ids.py
index e683ebd843..e64aa22316 100644
--- a/msg/tools/uorb_rtps_message_ids.py
+++ b/msg/tools/uorb_rtps_message_ids.py
@@ -48,7 +48,7 @@ msg_id_map = {
     'multirotor_motor_limits': 43,
     'offboard_control_mode': 44,
     'optical_flow': 45,
-    'output_pwm': 46,
+
     'parameter_update': 47,
     'position_setpoint': 48,
     'position_setpoint_triplet': 49,
@@ -86,7 +86,7 @@ msg_id_map = {
     'vehicle_control_mode': 81,
     'vehicle_force_setpoint': 82,
     'vehicle_global_position': 83,
-    'vehicle_global_velocity_setpoint': 84,
+
     'vehicle_gps_position': 85,
     'vehicle_land_detected': 86,
     'vehicle_local_position': 87,
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 13e728f5ba..4c647545cb 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -35,8 +35,7 @@
  * @file PWM servo output interface.
  *
  * Servo values can be set with the PWM_SERVO_SET ioctl, by writing a
- * pwm_output_values structure to the device, or by publishing to the
- * output_pwm ORB topic.
+ * pwm_output_values structure to the device
  * Writing a value of 0 to a channel suppresses any output for that
  * channel.
  */
@@ -45,8 +44,6 @@
 
 #include <px4_defines.h>
 
-#include "uORB/topics/output_pwm.h"
-
 #include <stdint.h>
 #include <sys/ioctl.h>
 
@@ -64,11 +61,12 @@ __BEGIN_DECLS
 #define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"
 #define PWM_OUTPUT0_DEVICE_PATH	"/dev/pwm_output0"
 
-#define pwm_output_values output_pwm_s
+#define PWM_OUTPUT_MAX_CHANNELS 16
 
-#ifndef PWM_OUTPUT_MAX_CHANNELS
-#define PWM_OUTPUT_MAX_CHANNELS output_pwm_s::PWM_OUTPUT_MAX_CHANNELS
-#endif
+struct pwm_output_values {
+	uint32_t channel_count;
+	uint16_t values[16];
+};
 
 /**
  * Maximum number of PWM output channels supported by the device.
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index b08f10d465..d5f0ab8918 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -78,7 +78,6 @@
 #define RC_INPUT_MAX_DEADZONE_US	500
 
 #include <uORB/topics/input_rc.h>
-#define pwm_output_values output_pwm_s
 #define rc_input_values input_rc_s
 
 /**