diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 674b2304cd..9637b3e2b9 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -197,9 +197,6 @@ typedef uint16_t	servo_position_t;
 /** get the lockdown override flag to enable outputs in HIL */
 #define PWM_SERVO_GET_DISABLE_LOCKDOWN		_PX4_IOC(_PWM_SERVO_BASE, 24)
 
-/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
-#define PWM_SERVO_SET_FORCE_FAILSAFE		_PX4_IOC(_PWM_SERVO_BASE, 26)
-
 /** make failsafe non-recoverable (termination) if it occurs */
 #define PWM_SERVO_SET_TERMINATION_FAILSAFE	_PX4_IOC(_PWM_SERVO_BASE, 27)
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index a1fef26d58..c5096db347 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1844,21 +1844,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = _lockdown_override;
 		break;
 
-	case PWM_SERVO_SET_FORCE_FAILSAFE:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_FAILSAFE");
-
-		/* force failsafe mode instantly */
-		if (arg == 0) {
-			/* clear force failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
-
-		} else {
-			/* set force failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
-		}
-
-		break;
-
 	case PWM_SERVO_SET_TERMINATION_FAILSAFE:
 		PX4_DEBUG("PWM_SERVO_SET_TERMINATION_FAILSAFE");
 
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index cd402686ad..a7a8f3a4db 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -109,8 +109,6 @@ $ pwm rate -a -r 400
 	PRINT_MODULE_USAGE_NAME("pwm", "command");
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print current configuration of all channels");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("forcefail", "Force Failsafe mode. "
-                                         "PWM outputs are set to failsafe values.");
 	PRINT_MODULE_USAGE_ARG("on|off", "Turn on or off", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("terminatefail", "Enable Termination Failsafe mode. "
                                          "While this is true, "
@@ -694,30 +692,6 @@ pwm_main(int argc, char *argv[])
 
 		return 0;
 
-	} else if (!strcmp(command, "forcefail")) {
-
-		if (argc < 3) {
-			PX4_ERR("arg missing [on|off]");
-			return 1;
-
-		} else {
-
-			if (!strcmp(argv[2], "on")) {
-				/* force failsafe */
-				ret = px4_ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 1);
-
-			} else {
-				/* disable failsafe */
-				ret = px4_ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 0);
-			}
-
-			if (ret != OK) {
-				PX4_ERR("FAILED setting forcefail %s", argv[2]);
-			}
-		}
-
-		return 0;
-
 	} else if (!strcmp(command, "terminatefail")) {
 
 		if (argc < 3) {