diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 1d75bf12a2..235875f21e 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -274,32 +274,26 @@ else
 		. $FCONFIG
 	fi
 
-	#
-	# Start IO for PWM output or RC input if enabled
-	#
-	if param compare -s SYS_USE_IO 1
+	# Check if PX4IO present and update firmware if needed.
+	if [ -f $IOFW ]
 	then
-		# Check if PX4IO present and update firmware if needed.
-		if [ -f $IOFW ]
+		if ! px4io checkcrc ${IOFW}
 		then
-			if ! px4io checkcrc ${IOFW}
-			then
-				# tune Program PX4IO
-				tune_control play -t 16 # tune 16 = PROG_PX4IO
+			# tune Program PX4IO
+			tune_control play -t 16 # tune 16 = PROG_PX4IO
 
-				if px4io update ${IOFW}
+			if px4io update ${IOFW}
+			then
+				usleep 10000
+				tune_control stop
+				if px4io checkcrc ${IOFW}
 				then
-					usleep 10000
-					tune_control stop
-					if px4io checkcrc ${IOFW}
-					then
-						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
-					else
-						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-					fi
+					tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
 				else
-					tune_control stop
+					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 				fi
+			else
+				tune_control stop
 			fi
 		fi
 
@@ -310,6 +304,7 @@ else
 		fi
 	fi
 
+
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults
index 7a26ee01c8..87451b0c52 100644
--- a/boards/ark/fmu-v6x/init/rc.board_defaults
+++ b/boards/ark/fmu-v6x/init/rc.board_defaults
@@ -32,11 +32,4 @@ then
 	param set-default SENS_TEMP_ID 3014666
 fi
 
-if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
 safety_button start
diff --git a/boards/cubepilot/cubeorange/init/rc.board_defaults b/boards/cubepilot/cubeorange/init/rc.board_defaults
index 8ae2ed458b..7f961cd33e 100644
--- a/boards/cubepilot/cubeorange/init/rc.board_defaults
+++ b/boards/cubepilot/cubeorange/init/rc.board_defaults
@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/cubepilot/cubeorangeplus/init/rc.board_defaults b/boards/cubepilot/cubeorangeplus/init/rc.board_defaults
index 8ae2ed458b..7f961cd33e 100644
--- a/boards/cubepilot/cubeorangeplus/init/rc.board_defaults
+++ b/boards/cubepilot/cubeorangeplus/init/rc.board_defaults
@@ -14,6 +14,4 @@ param set-default SENS_EN_THERMAL 0
 
 param set-default -s SENS_TEMP_ID 2621474
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/cubepilot/cubeyellow/init/rc.board_defaults b/boards/cubepilot/cubeyellow/init/rc.board_defaults
index 54705e650d..6f39beb0c8 100644
--- a/boards/cubepilot/cubeyellow/init/rc.board_defaults
+++ b/boards/cubepilot/cubeyellow/init/rc.board_defaults
@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default SYS_USE_IO 1
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
diff --git a/boards/holybro/durandal-v1/init/rc.board_defaults b/boards/holybro/durandal-v1/init/rc.board_defaults
index 2a3b2c0a7b..49254efb15 100644
--- a/boards/holybro/durandal-v1/init/rc.board_defaults
+++ b/boards/holybro/durandal-v1/init/rc.board_defaults
@@ -11,5 +11,3 @@ param set-default BAT2_A_PER_V 36.367515152
 
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
-
-param set-default SYS_USE_IO 1
diff --git a/boards/holybro/pix32v5/init/rc.board_defaults b/boards/holybro/pix32v5/init/rc.board_defaults
index 94c5828214..c2300a50a7 100644
--- a/boards/holybro/pix32v5/init/rc.board_defaults
+++ b/boards/holybro/pix32v5/init/rc.board_defaults
@@ -9,7 +9,5 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-param set-default SYS_USE_IO 1
-
 rgbled_pwm start
 safety_button start
diff --git a/boards/mro/x21-777/init/rc.board_defaults b/boards/mro/x21-777/init/rc.board_defaults
index e9fecd78a8..5d576dd747 100644
--- a/boards/mro/x21-777/init/rc.board_defaults
+++ b/boards/mro/x21-777/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1
diff --git a/boards/mro/x21/init/rc.board_defaults b/boards/mro/x21/init/rc.board_defaults
index e9fecd78a8..5d576dd747 100644
--- a/boards/mro/x21/init/rc.board_defaults
+++ b/boards/mro/x21/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v2/init/rc.board_defaults b/boards/px4/fmu-v2/init/rc.board_defaults
index e9fecd78a8..5d576dd747 100644
--- a/boards/px4/fmu-v2/init/rc.board_defaults
+++ b/boards/px4/fmu-v2/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v3/init/rc.board_defaults b/boards/px4/fmu-v3/init/rc.board_defaults
index e9fecd78a8..5d576dd747 100644
--- a/boards/px4/fmu-v3/init/rc.board_defaults
+++ b/boards/px4/fmu-v3/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
-param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v4pro/init/rc.board_defaults b/boards/px4/fmu-v4pro/init/rc.board_defaults
index 42378a19d7..8dd9df28d5 100644
--- a/boards/px4/fmu-v4pro/init/rc.board_defaults
+++ b/boards/px4/fmu-v4pro/init/rc.board_defaults
@@ -13,6 +13,4 @@ param set-default BAT2_A_PER_V 26.4
 param set-default EKF2_MULTI_IMU 2
 param set-default SENS_IMU_MODE 0
 
-param set-default SYS_USE_IO 1
-
 set LOGGER_BUF 64
diff --git a/boards/px4/fmu-v5/init/rc.board_defaults b/boards/px4/fmu-v5/init/rc.board_defaults
index 83c1976b74..d7f8b05bd8 100644
--- a/boards/px4/fmu-v5/init/rc.board_defaults
+++ b/boards/px4/fmu-v5/init/rc.board_defaults
@@ -9,13 +9,6 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
 
-if ver hwtypecmp V5004000 V5006000
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
 if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults
index 2ff61617b9..cf152b948e 100644
--- a/boards/px4/fmu-v5x/init/rc.board_defaults
+++ b/boards/px4/fmu-v5x/init/rc.board_defaults
@@ -16,8 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
-
 if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
 then
 	# Skynode: use the "custom participant" config for uxrce_dds_client
diff --git a/boards/px4/fmu-v6c/init/rc.board_defaults b/boards/px4/fmu-v6c/init/rc.board_defaults
index 6418e5836d..f7dd269721 100644
--- a/boards/px4/fmu-v6c/init/rc.board_defaults
+++ b/boards/px4/fmu-v6c/init/rc.board_defaults
@@ -9,5 +9,3 @@ param set-default BAT2_V_DIV 18.1
 
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1
diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults
index d277bd771c..b94e5f78e6 100644
--- a/boards/px4/fmu-v6x/init/rc.board_defaults
+++ b/boards/px4/fmu-v6x/init/rc.board_defaults
@@ -16,8 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
-
 if ver hwtypecmp V6X009010 V6X010010
 then
 	# Skynode: use the "custom participant" config for uxrce_dds_client
diff --git a/boards/siyi/n7/init/rc.board_defaults b/boards/siyi/n7/init/rc.board_defaults
index a7d3d20bf9..24b5d9d803 100644
--- a/boards/siyi/n7/init/rc.board_defaults
+++ b/boards/siyi/n7/init/rc.board_defaults
@@ -10,5 +10,3 @@ param set-default BAT1_A_PER_V 36.367515152
 
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
-
-param set-default SYS_USE_IO 1
diff --git a/boards/sky-drones/smartap-airlink/init/rc.board_defaults b/boards/sky-drones/smartap-airlink/init/rc.board_defaults
index c581f8c741..212c72657f 100644
--- a/boards/sky-drones/smartap-airlink/init/rc.board_defaults
+++ b/boards/sky-drones/smartap-airlink/init/rc.board_defaults
@@ -25,8 +25,6 @@ param set-default BAT_V_OFFS_CURR 0.413
 # Disable safety switch
 param set-default CBRK_IO_SAFETY 22027
 
-param set-default SYS_USE_IO 1
-
 safety_button start
 
 set LOGGER_BUF 32
diff --git a/boards/thepeach/k1/init/rc.board_defaults b/boards/thepeach/k1/init/rc.board_defaults
index 5d8a3c182b..f22fa838f4 100644
--- a/boards/thepeach/k1/init/rc.board_defaults
+++ b/boards/thepeach/k1/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1
diff --git a/boards/thepeach/r1/init/rc.board_defaults b/boards/thepeach/r1/init/rc.board_defaults
index 5d8a3c182b..f22fa838f4 100644
--- a/boards/thepeach/r1/init/rc.board_defaults
+++ b/boards/thepeach/r1/init/rc.board_defaults
@@ -5,5 +5,3 @@
 
 param set-default BAT1_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
-
-param set-default SYS_USE_IO 1
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index ca5470a89b..3e24fc48ba 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -336,8 +336,7 @@ private:
 		(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max,
 		(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
 		(ParamInt<px4::params::SENS_EN_THERMAL>) _param_sens_en_themal,
-		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl,
-		(ParamInt<px4::params::SYS_USE_IO>) _param_sys_use_io
+		(ParamInt<px4::params::SYS_HITL>) _param_sys_hitl
 	)
 };
 
@@ -468,7 +467,7 @@ int PX4IO::init()
 	}
 
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
-	if (_param_sys_hitl.get() <= 0 && _param_sys_use_io.get() == 1) {
+	if (_param_sys_hitl.get() <= 0) {
 		_mixing_output.setMaxTopicUpdateRate(MIN_TOPIC_UPDATE_INTERVAL);
 	}
 
diff --git a/src/drivers/px4io/px4io_params.c b/src/drivers/px4io/px4io_params.c
index ef1c1ee6ab..b390bdb18a 100644
--- a/src/drivers/px4io/px4io_params.c
+++ b/src/drivers/px4io/px4io_params.c
@@ -42,18 +42,6 @@
 #include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
-/**
- * Set usage of IO board
- *
- * Can be used to use a configure the use of the IO board.
- *
- * @value 0 IO PWM disabled (RC only)
- * @value 1 IO enabled (RC & PWM)
- * @reboot_required true
- * @group System
- */
-PARAM_DEFINE_INT32(SYS_USE_IO, 0);
-
 /**
  * S.BUS out
  *