diff --git a/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp b/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
index 88a674fde9..43050ba34c 100644
--- a/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
@@ -427,12 +427,6 @@ void RCOutput_Bebop::read(uint16_t* period_us, uint8_t len)
     }
 }
 
-void RCOutput_Bebop::set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm)
-{
-    _min_pwm = min_pwm;
-    _max_pwm = max_pwm;
-}
-
 /* Separate thread to handle the Bebop motors controller */
 void* RCOutput_Bebop::_control_thread(void *arg) {
     RCOutput_Bebop* rcout = (RCOutput_Bebop *) arg;
diff --git a/libraries/AP_HAL_Linux/RCOutput_Bebop.h b/libraries/AP_HAL_Linux/RCOutput_Bebop.h
index d8890ffa97..c4c5c6a8af 100644
--- a/libraries/AP_HAL_Linux/RCOutput_Bebop.h
+++ b/libraries/AP_HAL_Linux/RCOutput_Bebop.h
@@ -71,7 +71,6 @@ public:
     void     push() override;
     uint16_t read(uint8_t ch) override;
     void     read(uint16_t* period_us, uint8_t len) override;
-    void     set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override;
     int      read_obs_data(BebopBLDC_ObsData &data);
     void     play_note(uint8_t pwm, uint16_t period_us, uint16_t duration_ms);
 
diff --git a/libraries/AP_HAL_Linux/RCOutput_Disco.cpp b/libraries/AP_HAL_Linux/RCOutput_Disco.cpp
index a482753e5d..977f8495ec 100644
--- a/libraries/AP_HAL_Linux/RCOutput_Disco.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_Disco.cpp
@@ -107,10 +107,4 @@ void RCOutput_Disco::push(void)
     bebop_out.push();
 }
 
-void RCOutput_Disco::set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm)
-{
-    sysfs_out.set_esc_scaling(min_pwm, max_pwm);
-    bebop_out.set_esc_scaling(min_pwm, max_pwm);
-}
-    
 }
diff --git a/libraries/AP_HAL_Linux/RCOutput_Disco.h b/libraries/AP_HAL_Linux/RCOutput_Disco.h
index 2005c2eeae..d9d7a7c84f 100644
--- a/libraries/AP_HAL_Linux/RCOutput_Disco.h
+++ b/libraries/AP_HAL_Linux/RCOutput_Disco.h
@@ -29,7 +29,6 @@ public:
     void read(uint16_t *period_us, uint8_t len) override;
     void cork() override;
     void push() override;
-    void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override;
 
 private:
     // Disco RC output combines methods from Sysfs and Bebop