diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index d3cfe2b5ed..938f4a5fea 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -244,7 +244,6 @@ public:
     void send_scaled_pressure();
     void send_scaled_pressure2();
     virtual void send_scaled_pressure3(); // allow sub to override this
-    void send_sensor_offsets();
     void send_simstate() const;
     void send_sim_state() const;
     void send_ahrs();
@@ -867,12 +866,6 @@ private:
 
     uint8_t last_battery_status_idx;
 
-    // send_sensor_offsets decimates its send rate using this counter:
-    // FIXME: decimate this instead when initialising the message
-    // intervals from the stream rates.  Consider the implications of
-    // doing so vis-a-vis the fact it will consume a bucket.
-    uint8_t send_sensor_offsets_counter;
-
     // if we've ever sent a DISTANCE_SENSOR message out of an
     // orientation we continue to send it out, even if it is not
     // longer valid.
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 2ef78d4878..f64b948b6e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -807,7 +807,6 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_SCALED_PRESSURE,       MSG_SCALED_PRESSURE},
         { MAVLINK_MSG_ID_SCALED_PRESSURE2,      MSG_SCALED_PRESSURE2},
         { MAVLINK_MSG_ID_SCALED_PRESSURE3,      MSG_SCALED_PRESSURE3},
-        { MAVLINK_MSG_ID_SENSOR_OFFSETS,        MSG_SENSOR_OFFSETS},
         { MAVLINK_MSG_ID_GPS_RAW_INT,           MSG_GPS_RAW},
         { MAVLINK_MSG_ID_GPS_RTK,               MSG_GPS_RTK},
         { MAVLINK_MSG_ID_GPS2_RAW,              MSG_GPS2_RAW},
@@ -1822,39 +1821,6 @@ void GCS_MAVLINK::send_scaled_pressure3()
     send_scaled_pressure_instance(2, mavlink_msg_scaled_pressure3_send);
 }
 
-void GCS_MAVLINK::send_sensor_offsets()
-{
-    const AP_InertialSensor &ins = AP::ins();
-    const Compass &compass = AP::compass();
-
-    // run this message at a much lower rate - otherwise it
-    // pointlessly wastes quite a lot of bandwidth
-    if (send_sensor_offsets_counter++ < 10) {
-        return;
-    }
-    send_sensor_offsets_counter = 0;
-
-    const Vector3f &mag_offsets = compass.get_offsets(0);
-    const Vector3f &accel_offsets = ins.get_accel_offsets(0);
-    const Vector3f &gyro_offsets = ins.get_gyro_offsets(0);
-
-    const AP_Baro &barometer = AP::baro();
-
-    mavlink_msg_sensor_offsets_send(chan,
-                                    mag_offsets.x,
-                                    mag_offsets.y,
-                                    mag_offsets.z,
-                                    compass.get_declination(),
-                                    barometer.get_pressure(),
-                                    barometer.get_temperature()*100,
-                                    gyro_offsets.x,
-                                    gyro_offsets.y,
-                                    gyro_offsets.z,
-                                    accel_offsets.x,
-                                    accel_offsets.y,
-                                    accel_offsets.z);
-}
-
 void GCS_MAVLINK::send_ahrs()
 {
     const AP_AHRS &ahrs = AP::ahrs();
@@ -5018,11 +4984,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_scaled_pressure3();
         break;
 
-    case MSG_SENSOR_OFFSETS:
-        CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
-        send_sensor_offsets();
-        break;
-
     case MSG_SERVO_OUTPUT_RAW:
         CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
         send_servo_output_raw();
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index f3154e3172..db1082dc3b 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -27,7 +27,6 @@ enum ap_message : uint8_t {
     MSG_SCALED_PRESSURE,
     MSG_SCALED_PRESSURE2,
     MSG_SCALED_PRESSURE3,
-    MSG_SENSOR_OFFSETS,
     MSG_GPS_RAW,
     MSG_GPS_RTK,
     MSG_GPS2_RAW,