diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
index c86bffc773..2c34d569b5 100644
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -345,13 +345,6 @@ else
     sh /etc/init.d/rc.error           
 fi
 
-if uavcan start 1
-then
-    echo "started uavcan OK"
-else
-    echo "failed to start uavcan"
-fi
-
 if mtd readtest /fs/mtd
 then
     echo "mtd readtest OK"
diff --git a/mk/PX4/config_px4fmu-v2_APM.mk b/mk/PX4/config_px4fmu-v2_APM.mk
index 3822953ae9..f285e0e4a7 100644
--- a/mk/PX4/config_px4fmu-v2_APM.mk
+++ b/mk/PX4/config_px4fmu-v2_APM.mk
@@ -74,10 +74,6 @@ MODULES         += modules/libtomcrypt
 endif
 MODULES		+= lib/conversion
 
-MODULES		+= modules/uavcan
-MODULES		+= lib/mathlib
-LIBRARIES	+= lib/mathlib/CMSIS
-
 #
 # Transitional support - add commands from the NuttX export archive.
 #
diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
index 7794ccfee9..bb6c005333 100644
--- a/mk/px4_targets.mk
+++ b/mk/px4_targets.mk
@@ -31,7 +31,6 @@ PX4_GIT_VERSION   := $(shell cd $(PX4_ROOT) && git rev-parse HEAD | cut -c1-8)
 
 EXTRAFLAGS += -DNUTTX_GIT_VERSION="\"$(NUTTX_GIT_VERSION)\""
 EXTRAFLAGS += -DPX4_GIT_VERSION="\"$(PX4_GIT_VERSION)\""
-EXTRAFLAGS += -DUAVCAN=1
 
 # we have different config files for V1 and V2
 PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk