diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 43548ec8f2..1ab916413f 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -283,14 +283,6 @@ class Board:
     def embed_ROMFS_files(self, ctx):
         '''embed some files using AP_ROMFS'''
         import embed
-        if ctx.env.USE_NUTTX_IOFW:
-            # use fmuv2_IO_NuttX.bin instead of fmuv2_IO.bin
-            for i in range(len(ctx.env.ROMFS_FILES)):
-                (name,filename) = ctx.env.ROMFS_FILES[i]
-                if name == 'io_firmware.bin':
-                    filename = 'Tools/IO_Firmware/fmuv2_IO_NuttX.bin'
-                    print("Using IO firmware %s" % filename)
-                    ctx.env.ROMFS_FILES[i] = (name,filename);
         header = ctx.bldnode.make_node('ap_romfs_embedded.h').abspath()
         if not embed.create_embedded_h(header, ctx.env.ROMFS_FILES):
             ctx.fatal("Failed to created ap_romfs_embedded.h")
diff --git a/wscript b/wscript
index 10d7280056..5402370a88 100644
--- a/wscript
+++ b/wscript
@@ -91,11 +91,6 @@ def options(opt):
         default=False,
         help='enable OS level asserts.')
 
-    g.add_option('--use-nuttx-iofw',
-        action='store_true',
-        default=False,
-        help='use old NuttX IO firmware for IOMCU')
-
     g.add_option('--bootloader',
         action='store_true',
         default=False,
@@ -362,7 +357,6 @@ def configure(cfg):
     cfg.env.DEBUG = cfg.options.debug
     cfg.env.ENABLE_ASSERTS = cfg.options.enable_asserts
     cfg.env.BOOTLOADER = cfg.options.bootloader
-    cfg.env.USE_NUTTX_IOFW = cfg.options.use_nuttx_iofw
 
     cfg.env.OPTIONS = cfg.options.__dict__