diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b8409bc517..6690821edb 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -179,10 +179,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_manual_control(msg);
 		break;
 
-	case MAVLINK_MSG_ID_RC_CHANNELS:
-		handle_message_rc_channels(msg);
-		break;
-
 	case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
 		handle_message_rc_channels_override(msg);
 		break;
@@ -1953,73 +1949,6 @@ MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_mess
 	_trajectory_waypoint_pub.publish(trajectory_waypoint);
 }
 
-void
-MavlinkReceiver::handle_message_rc_channels(mavlink_message_t *msg)
-{
-	mavlink_rc_channels_t rc_channels;
-	mavlink_msg_rc_channels_decode(msg, &rc_channels);
-
-	if (msg->compid != MAV_COMP_ID_SYSTEM_CONTROL) {
-		PX4_DEBUG("Mavlink receiver only processes RC_CHANNELS from MAV_COMP_ID_SYSTEM_CONTROL");
-		return;
-	}
-
-	input_rc_s rc{};
-
-	rc.timestamp_last_signal = hrt_absolute_time();
-	rc.rssi = input_rc_s::RSSI_MAX;
-
-	// TODO: fake RSSI from dropped messages?
-	// for (auto &component_state : _component_states) {
-	// 	if (component_state.component_id == MAV_COMP_ID_SYSTEM_CONTROL) {
-	// 		rc.rssi = (float)component_state.missed_messages / (float)component_state.received_messages;
-	// 	}
-	// }
-
-	rc.rc_total_frame_count = 1;
-	rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
-
-	// channels
-	rc.values[0] = rc_channels.chan1_raw;
-	rc.values[1] = rc_channels.chan2_raw;
-	rc.values[2] = rc_channels.chan3_raw;
-	rc.values[3] = rc_channels.chan4_raw;
-	rc.values[4] = rc_channels.chan5_raw;
-	rc.values[5] = rc_channels.chan6_raw;
-	rc.values[6] = rc_channels.chan7_raw;
-	rc.values[7] = rc_channels.chan8_raw;
-	rc.values[8] = rc_channels.chan9_raw;
-	rc.values[9] = rc_channels.chan10_raw;
-	rc.values[10] = rc_channels.chan11_raw;
-	rc.values[11] = rc_channels.chan12_raw;
-	rc.values[12] = rc_channels.chan13_raw;
-	rc.values[13] = rc_channels.chan14_raw;
-	rc.values[14] = rc_channels.chan15_raw;
-	rc.values[15] = rc_channels.chan16_raw;
-	rc.values[16] = rc_channels.chan17_raw;
-	rc.values[17] = rc_channels.chan18_raw;
-
-	// check how many channels are valid
-	for (int i = 17; i >= 0; i--) {
-		const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX
-		const bool ignore_zero = (i > 7) && (rc.values[i] == 0); // ignore channel 8-18 if value is 0
-
-		if (ignore_max || ignore_zero) {
-			// set all ignored values to zero
-			rc.values[i] = 0;
-
-		} else {
-			// first channel to not ignore -> set count considering zero-based index
-			rc.channel_count = i + 1;
-			break;
-		}
-	}
-
-	// publish uORB message
-	rc.timestamp = hrt_absolute_time();
-	_rc_pub.publish(rc);
-}
-
 void
 MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 {