diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 02179d975c..f471399788 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -267,30 +267,6 @@ void NOINLINE Sub::send_simstate(mavlink_channel_t chan)
 #endif
 }
 
-void NOINLINE Sub::send_radio_out(mavlink_channel_t chan)
-{
-    mavlink_msg_servo_output_raw_send(
-        chan,
-        micros(),
-        0,     // port
-        hal.rcout->read(0),
-        hal.rcout->read(1),
-        hal.rcout->read(2),
-        hal.rcout->read(3),
-        hal.rcout->read(4),
-        hal.rcout->read(5),
-        hal.rcout->read(6),
-        hal.rcout->read(7),
-        hal.rcout->read(8),
-        hal.rcout->read(9),
-        hal.rcout->read(10),
-        hal.rcout->read(11),
-        hal.rcout->read(12),
-        hal.rcout->read(13),
-        hal.rcout->read(14),
-        hal.rcout->read(15));
-}
-
 void NOINLINE Sub::send_vfr_hud(mavlink_channel_t chan)
 {
     mavlink_msg_vfr_hud_send(
@@ -467,11 +443,6 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
         sub.send_nav_controller_output(chan);
         break;
 
-    case MSG_SERVO_OUTPUT_RAW:
-        CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
-        sub.send_radio_out(chan);
-        break;
-
     case MSG_VFR_HUD:
         CHECK_PAYLOAD_SIZE(VFR_HUD);
         sub.send_vfr_hud(chan);
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 275dad5f08..f8bdbe957e 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -478,7 +478,6 @@ private:
     void send_extended_status1(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
     void send_simstate(mavlink_channel_t chan);
-    void send_radio_out(mavlink_channel_t chan);
     void send_vfr_hud(mavlink_channel_t chan);
 #if RPM_ENABLED == ENABLED
     void send_rpm(mavlink_channel_t chan);