diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 666085afbd..460460bc5d 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -779,12 +779,6 @@ AP_InertialSensor::detect_backends(void)
                  hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
 #elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
     _add_backend(AP_InertialSensor_L3G4200D::probe(*this, hal.i2c_mgr->get_device(HAL_INS_L3G4200D_I2C_BUS, HAL_INS_L3G4200D_I2C_ADDR)));
-#elif HAL_INS_DEFAULT == HAL_INS_RASPILOT
-    _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
-    _add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
-                                                  hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
-                                                  hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME),
-                                                  ROTATION_NONE, ROTATION_YAW_90));
 #elif HAL_INS_DEFAULT == HAL_INS_MPU9250_I2C
     _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU9250_I2C_BUS, HAL_INS_MPU9250_I2C_ADDR)));
 #elif HAL_INS_DEFAULT == HAL_INS_QFLIGHT
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
index 97b6fd70b2..eaf53105e8 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@@ -31,8 +31,6 @@ extern const AP_HAL::HAL& hal;
 #include <AP_HAL_Linux/GPIO.h>
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
 #define INVENSENSE_DRDY_PIN BBB_P8_14
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
-#define INVENSENSE_DRDY_PIN RPI_GPIO_24
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
 #define INVENSENSE_DRDY_PIN MINNOW_GPIO_I2S_CLK
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
index c74eeb0bda..46773b6e45 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
@@ -23,13 +23,8 @@
 
 extern const AP_HAL::HAL &hal;
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
-#define LSM9DS0_DRY_X_PIN RPI_GPIO_17
-#define LSM9DS0_DRY_G_PIN RPI_GPIO_6
-#else
 #define LSM9DS0_DRY_X_PIN -1
 #define LSM9DS0_DRY_G_PIN -1
-#endif
 
 #define LSM9DS0_G_WHOAMI    0xD4 // L3GD20
 #define LSM9DS0_G_WHOAMI_H  0xD7 // L3GD20H