diff --git a/.gitmodules b/.gitmodules
index 78d334ffd1..24bcda3a26 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,3 @@
-[submodule "modules/PX4Firmware"]
-	path = modules/PX4Firmware
-	url = git://github.com/ArduPilot/PX4Firmware.git
-[submodule "modules/PX4NuttX"]
-	path = modules/PX4NuttX
-	url = git://github.com/ArduPilot/PX4NuttX.git
 [submodule "modules/uavcan"]
 	path = modules/uavcan
 	url = git://github.com/ArduPilot/uavcan.git
diff --git a/modules/PX4Firmware b/modules/PX4Firmware
deleted file mode 160000
index bcbd027aaf..0000000000
--- a/modules/PX4Firmware
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit bcbd027aaf771feaab92d7ad7d48b7fb9eb2f0c1
diff --git a/modules/PX4NuttX b/modules/PX4NuttX
deleted file mode 160000
index 1472b16c36..0000000000
--- a/modules/PX4NuttX
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 1472b16c36e37312b722fbe4540e48b39abfa23a