diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
index e8b2c4112f..c97b1309d4 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -15,7 +15,6 @@
 #include "AnalogIn.h"
 #include "Util.h"
 #include "GPIO.h"
-#include "I2CDriver.h"
 #include "I2CDevice.h"
 
 #include <AP_HAL_Empty/AP_HAL_Empty.h>
@@ -32,7 +31,6 @@
 
 using namespace PX4;
 
-static PX4I2CDriver i2cDriver;
 static Empty::SPIDeviceManager spiDeviceManager;
 //static Empty::GPIO gpioDriver;
 
@@ -86,9 +84,6 @@ HAL_PX4::HAL_PX4() :
         &uartEDriver,  /* uartE */
         &uartFDriver,  /* uartF */
         &i2c_mgr_instance,
-        &i2cDriver, /* i2c */
-        NULL,   /* only one i2c */
-        NULL,   /* only one i2c */
         &spiDeviceManager, /* spi */
         &analogIn, /* analogin */
         &storageDriver, /* storage */
diff --git a/libraries/AP_HAL_PX4/I2CDriver.cpp b/libraries/AP_HAL_PX4/I2CDriver.cpp
deleted file mode 100644
index 240678d4fe..0000000000
--- a/libraries/AP_HAL_PX4/I2CDriver.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-#include <AP_HAL/AP_HAL.h>
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-
-#include "I2CDriver.h"
-#include "I2CWrapper.h"
-
-extern const AP_HAL::HAL& hal;
-
-using namespace PX4;
-
-// constructor for main i2c class
-PX4I2CDriver::PX4I2CDriver(void)
-{
-    px4_i2c = new PX4_I2C(PX4_I2C_BUS_EXPANSION);
-    if (px4_i2c == nullptr) {
-        AP_HAL::panic("Unable to allocate PX4 I2C driver");
-    }
-}
-
-/*
-  expose transfer function
- */
-bool PX4I2CDriver::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len)
-{
-    return px4_i2c->do_transfer(address, send, send_len, recv, recv_len);
-}
-
-/* write: for i2c devices which do not obey register conventions */
-uint8_t PX4I2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data)
-{
-    return do_transfer(addr, data, len, nullptr, 0) ? 0:1;
-}
-
-/* writeRegister: write a single 8-bit value to a register */
-uint8_t PX4I2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val)
-{
-    uint8_t d[2] = { reg, val };
-    return do_transfer(addr, d, sizeof(d), nullptr, 0) ? 0:1;
-}
-
-/* writeRegisters: write bytes to contiguous registers */
-uint8_t PX4I2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
-                                     uint8_t len, uint8_t* data)
-{
-    return write(addr, 1, &reg) == 0 && write(addr, len, data) == 0;
-}
-
-/* read: for i2c devices which do not obey register conventions */
-uint8_t PX4I2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
-{
-    return do_transfer(addr, nullptr, 0, data, len) ? 0:1;
-}
-    
-/* readRegister: read from a device register - writes the register,
- * then reads back an 8-bit value. */
-uint8_t PX4I2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data)
-{
-    return do_transfer(addr, &reg, 1, data, 1) ? 0:1;
-}
-
-/* readRegister: read contiguous device registers - writes the first 
- * register, then reads back multiple bytes */
-uint8_t PX4I2CDriver::readRegisters(uint8_t addr, uint8_t reg,
-                                    uint8_t len, uint8_t* data)
-{
-    return do_transfer(addr, &reg, 1, data, len) ? 0:1;
-}
-
-#endif // CONFIG_HAL_BOARD
diff --git a/libraries/AP_HAL_PX4/I2CDriver.h b/libraries/AP_HAL_PX4/I2CDriver.h
deleted file mode 100644
index fcfcca7f78..0000000000
--- a/libraries/AP_HAL_PX4/I2CDriver.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#pragma once
-
-#include "AP_HAL_PX4.h"
-#include <AP_HAL_Empty/AP_HAL_Empty.h>
-#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
-
-class PX4::PX4I2CDriver : public AP_HAL::I2CDriver {
-public:
-    PX4I2CDriver(void);
-
-    void begin() override {}
-    void end() override {}
-    void setTimeout(uint16_t ms) override {}
-    void setHighSpeed(bool active) override {}
-
-    // main transfer function
-    bool do_transfer(uint8_t address, const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len) override;
-
-    /* write: for i2c devices which do not obey register conventions */
-    uint8_t write(uint8_t addr, uint8_t len, uint8_t* data) override;
-
-    /* writeRegister: write a single 8-bit value to a register */
-    uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) override;
-
-    /* writeRegisters: write bytes to contiguous registers */
-    uint8_t writeRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
-
-    /* read: for i2c devices which do not obey register conventions */
-    uint8_t read(uint8_t addr, uint8_t len, uint8_t* data) override;
-    
-    /* readRegister: read from a device register - writes the register,
-     * then reads back an 8-bit value. */
-    uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) override;
-
-    /* readRegister: read contiguous device registers - writes the first 
-     * register, then reads back multiple bytes */
-    uint8_t readRegisters(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* data) override;
-    
-    uint8_t lockup_count() override { return 0; }
-
-    AP_HAL::Semaphore* get_semaphore() override { return &semaphore; }
-
-private:
-    // we use an empty semaphore as the underlying I2C class already has a semaphore
-    Empty::Semaphore semaphore;
-    PX4_I2C *px4_i2c = nullptr;
-};