diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index e44418f03e..610e97262b 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -15,11 +15,6 @@
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 
-#if HAL_WITH_UAVCAN
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
-#include <AP_UAVCAN/AP_UAVCAN.h>
-#endif
-
 extern const AP_HAL::HAL& hal;
 
 using namespace PX4;
@@ -524,36 +519,6 @@ void PX4RCOutput::_send_outputs(void)
             }
         }
 
-#if HAL_WITH_UAVCAN
-        if (AP_BoardConfig_CAN::get_can_num_ifaces() >= 1)
-        {
-            for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
-                if (hal.can_mgr[i] != nullptr)
-                {
-                    AP_UAVCAN *ap_uc = hal.can_mgr[i]->get_UAVCAN();
-                    if (ap_uc != nullptr)
-                    {
-                        if (ap_uc->rc_out_sem_take())
-                        {
-                            for (uint8_t j = 0; j < _max_channel; j++)
-                            {
-                                ap_uc->rco_write(_period[j], j);
-                            }
-
-                            if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
-                                ap_uc->rco_arm_actuators(true);
-                            } else {
-                                ap_uc->rco_arm_actuators(false);
-                            }
-
-                            ap_uc->rc_out_sem_give();
-                        }
-                    }
-                }
-            }
-        }
-#endif // HAL_WITH_UAVCAN
-
         perf_end(_perf_rcout);
         _last_output = now;
     }