diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 2510b35734..6081c5ddac 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -179,16 +179,6 @@ then
 		set USE_IO no
 	fi
 
-
-	# should set to 0.8 for mindpx-v2 borad.
-	if param compare INAV_LIDAR_ERR 0.5
-	then
-		if ver hwcmp MINDPX_V2
-		then
-			param set INAV_LIDAR_ERR 0.8
-		fi
-	fi
-
 	#
 	# Set parameters and env variables for selected AUTOSTART
 	#
diff --git a/src/drivers/boards/mindpx-v2/mindpx2_init.c b/src/drivers/boards/mindpx-v2/mindpx2_init.c
index fda280c440..671d5afcd1 100644
--- a/src/drivers/boards/mindpx-v2/mindpx2_init.c
+++ b/src/drivers/boards/mindpx-v2/mindpx2_init.c
@@ -146,22 +146,6 @@ static struct spi_dev_s *spi2;
 static struct spi_dev_s *spi4;
 static struct sdio_dev_s *sdio;
 
-#include <math.h>
-
-#if 0
-#ifdef __cplusplus
-__EXPORT int matherr(struct __exception *e)
-{
-	return 1;
-}
-#else
-__EXPORT int matherr(struct exception *e)
-{
-	return 1;
-}
-#endif
-#endif
-
 __EXPORT int nsh_archinitialize(void)
 {
 	/* configure ADC pins */
@@ -303,16 +287,5 @@ __EXPORT int nsh_archinitialize(void)
 
 #endif
 
-
-	px4_arch_configgpio(GPIO_I2C2_SCL);
-	px4_arch_configgpio(GPIO_I2C2_SDA);
-	message("[boot] Initialized ext I2C Port\n");
-
-	px4_arch_configgpio(GPIO_I2C1_SCL);
-	px4_arch_configgpio(GPIO_I2C1_SDA);
-	message("[boot] Initialized onboard I2C Port\n");
-
-
-
 	return OK;
 }