diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 24eb761333..e2a0e6bc97 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -5,16 +5,6 @@
 #include <AP_Param/AP_Param.h>
 #include <sys/ioctl.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
-
-#define _UAVCAN_IOCBASE             (0x4000)                        // IOCTL base for module UAVCAN
-#define _UAVCAN_IOC(_n)             (_IOC(_UAVCAN_IOCBASE, _n))
-
-#define UAVCAN_IOCG_NODEID_INPROGRESS  _UAVCAN_IOC(1)               // query if node identification is in progress
-#define UAVCAN_IOCS_HARDPOINT_SET      _UAVCAN_IOC(10)              // control hardpoint (e.g. OpenGrab EPM)
-
-#endif
-
 extern "C" typedef int (*main_fn_t)(int argc, char **);
 
 class AP_BoardConfig {
diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index 283add393c..6a20552e57 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -52,16 +52,6 @@ extern "C" {
     int tone_alarm_main(int, char **);
 };
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
-/*
-  this is needed for the code to wait for CAN startup
- */
-#define _UAVCAN_IOCBASE             (0x4000)                        // IOCTL base for module UAVCAN
-#define _UAVCAN_IOC(_n)             (_IOC(_UAVCAN_IOCBASE, _n))
-
-#define UAVCAN_IOCG_NODEID_INPROGRESS  _UAVCAN_IOC(1)               // query if node identification is in progress
-#endif
-
 /*
   setup PWM pins
  */