diff --git a/Makefile b/Makefile
index c65989ffe7..cfd87b6e23 100644
--- a/Makefile
+++ b/Makefile
@@ -457,10 +457,6 @@ tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
 
-tests_avoidance: rostest
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
-	@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
-
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
 	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
deleted file mode 100644
index e3c25ec777..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor SITL (Obstacle Avoidance)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.1515
-param set-default CA_ROTOR0_PY 0.245
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.1515
-param set-default CA_ROTOR1_PY -0.1875
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.1515
-param set-default CA_ROTOR2_PY -0.245
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.1515
-param set-default CA_ROTOR3_PY 0.1875
-param set-default CA_ROTOR3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post b/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post
deleted file mode 100644
index 64b8ce8b19..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1014_gazebo-classic_iris_obs_avoid.post
+++ /dev/null
@@ -1,2 +0,0 @@
-# shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index 94f2f4d39a..4ae56f51e9 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -39,8 +39,6 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1014_gazebo-classic_iris_obs_avoid
-	1014_gazebo-classic_iris_obs_avoid.post
 	1015_gazebo-classic_iris_depth_camera
 	1016_gazebo-classic_iris_downward_depth_camera
 	1017_gazebo-classic_iris_opt_flow_mockup
diff --git a/integrationtests/python_src/px4_it/mavros/missions/avoidance.plan b/integrationtests/python_src/px4_it/mavros/missions/avoidance.plan
deleted file mode 100644
index 1698c6b2bc..0000000000
--- a/integrationtests/python_src/px4_it/mavros/missions/avoidance.plan
+++ /dev/null
@@ -1,88 +0,0 @@
-{
-    "fileType": "Plan",
-    "geoFence": {
-        "circles": [
-        ],
-        "polygons": [
-        ],
-        "version": 2
-    },
-    "groundStation": "QGroundControl",
-    "mission": {
-        "cruiseSpeed": 15,
-        "firmwareType": 12,
-        "hoverSpeed": 5,
-        "items": [
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 4,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 22,
-                "doJumpId": 1,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977432,
-                    8.5456085,
-                    4
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": 4,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 16,
-                "doJumpId": 2,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977432,
-                    8.5458765,
-                    4
-                ],
-                "type": "SimpleItem"
-            },
-            {
-                "AMSLAltAboveTerrain": null,
-                "Altitude": -1,
-                "AltitudeMode": 0,
-                "autoContinue": true,
-                "command": 21,
-                "doJumpId": 3,
-                "frame": 3,
-                "params": [
-                    0,
-                    0,
-                    0,
-                    null,
-                    47.3977432,
-                    8.5458812,
-                    -1
-                ],
-                "type": "SimpleItem"
-            }
-        ],
-        "plannedHomePosition": [
-            47.3977419,
-            8.5458854,
-            487.923
-        ],
-        "vehicleType": 2,
-        "version": 2
-    },
-    "rallyPoints": {
-        "points": [
-        ],
-        "version": 2
-    },
-    "version": 1
-}
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
index b67fe546cc..258e18d8b2 100644
--- a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
@@ -80,7 +80,6 @@ if(gazebo_FOUND)
 		iris_dual_gps
 		iris_foggy_lidar
 		iris_irlock
-		iris_obs_avoid
 		iris_depth_camera
 		iris_downward_depth_camera
 		iris_opt_flow
diff --git a/test/mavros_posix_test_avoidance.test b/test/mavros_posix_test_avoidance.test
deleted file mode 100644
index 5c5adeaa4d..0000000000
--- a/test/mavros_posix_test_avoidance.test
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL MAVROS integration tests -->
-    <!-- Test a mission -->
-    <arg name="est" default="ekf2"/>
-    <arg name="gui" default="false"/>
-    <arg name="interactive" default="false"/>
-    <arg name="mission" default="avoidance"/>
-    <arg name="sdf" default="$(find avoidance)/sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/>
-    <arg name="vehicle" default="iris_obs_avoid"/>
-    <arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/>
-    <!-- PX4 SITL and Gazebo -->
-    <include file="$(find px4)/launch/posix_sitl.launch">
-        <arg name="est" value="$(arg est)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="interactive" value="$(arg interactive)"/>
-        <arg name="respawn_gazebo" value="true"/>
-        <arg name="sdf" value="$(arg sdf)"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="verbose" value="true"/>
-        <arg name="world" value="$(arg world)"/>
-    </include>
-    <!-- MAVROS -->
-    <include file="$(find mavros)/launch/node.launch">
-        <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
-        <arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
-        <arg name="gcs_url" value=""/>
-        <arg name="fcu_url" value="udp://:14540@localhost:14557"/>
-        <arg name="tgt_system" value="1"/>
-        <arg name="tgt_component" value="1"/>
-        <arg name="respawn_mavros" value="true"/>
-    </include>
-    <!-- Transformation Publishers -->
-    <node pkg="tf" type="static_transform_publisher" name="tf_front_camera"
-          args="0 0 0 -1.57 0 -1.57 fcu front_camera_link 10"/>
-    <node pkg="tf" type="static_transform_publisher" name="tf_right_camera"
-          args="0 0 0 -3.14 0 -1.57 fcu right_camera_link 10"/>
-    <node pkg="tf" type="static_transform_publisher" name="tf_left_camera"
-          args="0 0 0 0 0 -1.57 fcu left_camera_link 10"/>
-    <!-- Suppress console outputs -->
-    <env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>
-    <!-- Launch Local Planner -->
-    <arg name="pointcloud_topics" default="[/camera_front/depth/points,/camera_left/depth/points,/camera_right/depth/points]"/>
-    <node name="local_planner_node" pkg="local_planner" type="local_planner_node" output="screen">
-        <param name="goal_x_param" value="17" />
-        <param name="goal_y_param" value="15"/>
-        <param name="goal_z_param" value="3" />
-        <rosparam param="pointcloud_topics" subst_value="True">$(arg pointcloud_topics)</rosparam>
-    </node>
-    <!-- ROStest -->
-    <test test-name="$(arg mission)" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission).plan"/>
-</launch>
diff --git a/test/rostest_avoidance_run.sh b/test/rostest_avoidance_run.sh
deleted file mode 100755
index 2fc2be7eb6..0000000000
--- a/test/rostest_avoidance_run.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-#! /bin/bash
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-PX4_SRC_DIR=${DIR}/..
-
-source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
-mkdir -p ${PX4_SRC_DIR}/catkin_ws/src
-cd ${PX4_SRC_DIR}/catkin_ws/
-git clone -b 0.3.1 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
-
-catkin init
-catkin build local_planner safe_landing_planner --cmake-args -DCMAKE_BUILD_TYPE=Release
-
-source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash
-source /usr/share/gazebo/setup.sh
-
-export CATKIN_SETUP_UTIL_ARGS=--extend
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${PX4_SRC_DIR}/catkin_ws/src/avoidance/avoidance/sim/models
-
-source $DIR/rostest_px4_run.sh "$@"