diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 9637b3e2b9..410b492d75 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)
 
-/** 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 c5096db347..46a08bac96 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_TERMINATION_FAILSAFE:
-		PX4_DEBUG("PWM_SERVO_SET_TERMINATION_FAILSAFE");
-
-		/* if failsafe occurs, do not allow the system to recover */
-		if (arg == 0) {
-			/* clear termination failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
-
-		} else {
-			/* set termination failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
-		}
-
-		break;
-
 	case DSM_BIND_START:
 		/* bind a DSM receiver */
 		ret = dsm_bind_ioctl(arg);
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index a7a8f3a4db..efe3bb3fee 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -109,11 +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_ARG("on|off", "Turn on or off", false);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("terminatefail", "Enable Termination Failsafe mode. "
-                                         "While this is true, "
-                                         "any failsafe that occurs will be unrecoverable (even if recovery conditions are met).");
-	PRINT_MODULE_USAGE_ARG("on|off", "Turn on or off", false);
 
 	PRINT_MODULE_USAGE_COMMAND_DESCR("rate", "Configure PWM rates");
 	PRINT_MODULE_USAGE_PARAM_INT('r', -1, 50, 400, "PWM Rate in Hz (0 = Oneshot, otherwise 50 to 400Hz)", false);
@@ -690,30 +685,6 @@ pwm_main(int argc, char *argv[])
 			}
 		}
 
-		return 0;
-
-	} else if (!strcmp(command, "terminatefail")) {
-
-		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_TERMINATION_FAILSAFE, 1);
-
-			} else {
-				/* disable failsafe */
-				ret = px4_ioctl(fd, PWM_SERVO_SET_TERMINATION_FAILSAFE, 0);
-			}
-
-			if (ret != OK) {
-				PX4_ERR("FAILED setting termination failsafe %s", argv[2]);
-			}
-		}
-
 		return 0;
 	}