diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 94e5c67444..a16015a481 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -298,7 +298,6 @@ public:
     void send_vibration() const;
     void send_mount_status() const;
     void send_named_float(const char *name, float value) const;
-    void send_gimbal_report() const;
     void send_home_position() const;
     void send_gps_global_origin() const;
     virtual void send_attitude_target() {};
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index a3082eff8b..75b6a7c647 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -892,7 +892,6 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_CAMERA_FEEDBACK,       MSG_CAMERA_FEEDBACK},
         { MAVLINK_MSG_ID_MOUNT_STATUS,          MSG_MOUNT_STATUS},
         { MAVLINK_MSG_ID_OPTICAL_FLOW,          MSG_OPTICAL_FLOW},
-        { MAVLINK_MSG_ID_GIMBAL_REPORT,         MSG_GIMBAL_REPORT},
         { MAVLINK_MSG_ID_MAG_CAL_PROGRESS,      MSG_MAG_CAL_PROGRESS},
         { MAVLINK_MSG_ID_MAG_CAL_REPORT,        MSG_MAG_CAL_REPORT},
         { MAVLINK_MSG_ID_EKF_STATUS_REPORT,     MSG_EKF_STATUS_REPORT},
@@ -5040,17 +5039,6 @@ void GCS_MAVLINK::send_global_position_int()
         ahrs.yaw_sensor);                // compass heading in 1/100 degree
 }
 
-void GCS_MAVLINK::send_gimbal_report() const
-{
-#if HAL_MOUNT_ENABLED
-    AP_Mount *mount = AP::mount();
-    if (mount == nullptr) {
-        return;
-    }
-    mount->send_gimbal_report(chan);
-#endif
-}
-
 void GCS_MAVLINK::send_mount_status() const
 {
 #if HAL_MOUNT_ENABLED
@@ -5201,11 +5189,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         queued_param_send();
         break;
 
-    case MSG_GIMBAL_REPORT:
-        CHECK_PAYLOAD_SIZE(GIMBAL_REPORT);
-        send_gimbal_report();
-        break;
-
     case MSG_HEARTBEAT:
         CHECK_PAYLOAD_SIZE(HEARTBEAT);
         last_heartbeat_time = AP_HAL::millis();
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index 7e314fe69e..ea6a6474f3 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -51,7 +51,6 @@ enum ap_message : uint8_t {
     MSG_CAMERA_FEEDBACK,
     MSG_MOUNT_STATUS,
     MSG_OPTICAL_FLOW,
-    MSG_GIMBAL_REPORT,
     MSG_MAG_CAL_PROGRESS,
     MSG_MAG_CAL_REPORT,
     MSG_EKF_STATUS_REPORT,