diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 0197a20d0c..ffa8eec12d 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -198,7 +198,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
 #if HAL_HAVE_IMU_HEATER
     // @Param: HEAT_TARG
     // @DisplayName: Board heater temperature target
-    // @Description: Board heater target temperature for boards with controllable heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.
+    // @Description: Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.
     // @Range: -1 80
     // @Units: degC
     // @User: Advanced
diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
index 6d59ea32d6..2fbae07b31 100644
--- a/libraries/AP_BoardConfig/board_drivers.cpp
+++ b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -81,18 +81,6 @@ void AP_BoardConfig::board_setup_drivers(void)
     // run board auto-detection
     board_autodetect();
 
-#if HAL_HAVE_IMU_HEATER
-    if (state.board_type == PX4_BOARD_PH2SLIM ||
-        state.board_type == PX4_BOARD_PIXHAWK2) {
-        heater.imu_target_temperature.set_default(45);
-        if (heater.imu_target_temperature.get() < 0) {
-            // don't allow a value of -1 on the cube, or it could cook
-            // the IMU
-            heater.imu_target_temperature.set(45);
-        }
-    }
-#endif
-
     px4_configured_board = (enum px4_board_type)state.board_type.get();
 
     switch (px4_configured_board) {