diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index 69158c5001..c0f2fee98d 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -37,8 +37,6 @@ void RCInput::init()
 #endif
     chMtxObjectInit(&rcin_mutex);
     _init = true;
-    //timeout starts from the initialisation
-    _rcin_detect_timeout = AP_HAL::micros();
 }
 
 bool RCInput::new_input()
@@ -186,11 +184,6 @@ void RCInput::_timer_tick(void)
         }
         chMtxUnlock(&rcin_mutex);
     }
-    //we reset if nothing detected for SIG_DETECT_TIMEOUT_US
-    if (AP_HAL::micros() - _rcin_detect_timeout > SIG_DETECT_TIMEOUT_US) {
-        _rcin_detect_timeout = AP_HAL::micros();
-        sig_reader.invert();
-    }
 #endif
 
 #ifdef HAL_RCINPUT_WITH_AP_RADIO
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.h b/libraries/AP_HAL_ChibiOS/RCInput.h
index 49680d1b1d..c80e008df5 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.h
+++ b/libraries/AP_HAL_ChibiOS/RCInput.h
@@ -62,7 +62,6 @@ private:
     mutex_t rcin_mutex;
     int16_t _rssi = -1;
     uint32_t _rcin_timestamp_last_signal;
-    uint32_t _rcin_detect_timeout;
     bool _init;
 #ifdef HAL_RCINPUT_WITH_AP_RADIO
     bool _radio_init;
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
index fa30aa2ad9..ca6e72c911 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
@@ -107,24 +107,6 @@ bool SoftSigReader::read(uint32_t &widths0, uint32_t &widths1)
     return true;
 }
 
-void SoftSigReader::invert()
-{
-    if (_icu_drv == nullptr) {
-        return;
-    }
-    icuStopCapture(_icu_drv);
-    icuStop(_icu_drv);
-    if (icucfg.mode == ICU_INPUT_ACTIVE_LOW) {
-        icucfg.mode = ICU_INPUT_ACTIVE_HIGH;
-    } else {
-        icucfg.mode = ICU_INPUT_ACTIVE_LOW;
-    }
-    icuStart(_icu_drv, &icucfg);
-    _icu_drv->tim->DCR = STM32_TIM_DCR_DBA(0x0D) | STM32_TIM_DCR_DBL(1);
-    icuStartCapture(_icu_drv);
-}
-
-
 
 bool SoftSigReader::set_bounce_buf_size(uint16_t buf_size)
 {
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.h b/libraries/AP_HAL_ChibiOS/SoftSigReader.h
index 163eda0604..7fde25096d 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.h
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.h
@@ -32,8 +32,6 @@ public:
     bool read(uint32_t &widths0, uint32_t &widths1);
     //This sets the size of bounce buffer size, which in turn controls the rate of interrupt from DMA
     bool set_bounce_buf_size(uint16_t buf_size);
-    //inverts the signal input mode
-    void invert();
 private:
     uint32_t *signal;
     static void _irq_handler(void* self, uint32_t flags);