diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 6da0314cb8..9712b1d725 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -134,7 +134,7 @@ then
 	mpl3115a2 -X start
 
 	# Internal SPI (accel + mag)
-	fxos8701cq start -a 8 -R 0
+	fxos8701cq start -R 0
 
 	# Internal SPI (gyro)
 	fxas21002c start -R 0
diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h
index 0f6269b5f1..c2378ff27e 100644
--- a/src/drivers/drv_accel.h
+++ b/src/drivers/drv_accel.h
@@ -82,9 +82,6 @@ struct accel_calibration_s {
 /** set the accel scaling constants to the structure pointed to by (arg) */
 #define ACCELIOCSSCALE		_ACCELIOC(5)
 
-/** set the accel measurement range to handle at least (arg) g */
-#define ACCELIOCSRANGE		_ACCELIOC(7)
-
 /** get the current accel measurement range in g */
 #define ACCELIOCGRANGE		_ACCELIOC(8)
 
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index 1d94b27623..10e3203d4d 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -1086,9 +1086,6 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		return -EINVAL;
-
 	case ACCELIOCGRANGE:
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
 
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp
index c5bb8d3470..0bd5d485ec 100644
--- a/src/drivers/imu/adis16477/ADIS16477.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477.cpp
@@ -425,9 +425,6 @@ ADIS16477::ioctl(struct file *filp, int cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		return -EINVAL;
-
 	case ACCELIOCGRANGE:
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
 
diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp
index 3202788374..4994bcd275 100644
--- a/src/drivers/imu/bma180/bma180.cpp
+++ b/src/drivers/imu/bma180/bma180.cpp
@@ -481,9 +481,6 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_accel_scale, (struct accel_calibration_s *) arg, sizeof(_accel_scale));
 		return OK;
 
-	case ACCELIOCSRANGE:
-		return set_range(arg);
-
 	case ACCELIOCGRANGE:
 		return _current_range;
 
diff --git a/src/drivers/imu/bmi055/BMI055_accel.cpp b/src/drivers/imu/bmi055/BMI055_accel.cpp
index 77c7a799ad..22d35093b1 100644
--- a/src/drivers/imu/bmi055/BMI055_accel.cpp
+++ b/src/drivers/imu/bmi055/BMI055_accel.cpp
@@ -432,9 +432,6 @@ BMI055_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		return set_accel_range(arg);
-
 	case ACCELIOCGRANGE:
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
 
diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp
index 2e38756675..d42ca96fd9 100644
--- a/src/drivers/imu/bmi160/bmi160.cpp
+++ b/src/drivers/imu/bmi160/bmi160.cpp
@@ -668,9 +668,6 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		return set_accel_range(arg);
-
 	case ACCELIOCGRANGE:
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
 
diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
index 1d63441938..fe64190dcc 100644
--- a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
+++ b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
@@ -899,10 +899,6 @@ FXOS8701CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		/* arg needs to be in G */
-		return accel_set_range(arg);
-
 	case ACCELIOCGRANGE:
 		/* convert to m/s^2 and return rounded in G */
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
@@ -1677,7 +1673,7 @@ namespace fxos8701cq
 
 FXOS8701CQ	*g_dev;
 
-void	start(bool external_bus, enum Rotation rotation, unsigned range);
+void	start(bool external_bus, enum Rotation rotation);
 void	test();
 void	reset();
 void	info();
@@ -1693,7 +1689,7 @@ void	test_error();
  * up and running or failed to detect the sensor.
  */
 void
-start(bool external_bus, enum Rotation rotation, unsigned range)
+start(bool external_bus, enum Rotation rotation)
 {
 	int fd;
 
@@ -1735,10 +1731,6 @@ start(bool external_bus, enum Rotation rotation, unsigned range)
 		goto fail;
 	}
 
-	if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
-		goto fail;
-	}
-
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
 	int fd_mag;
 	fd_mag = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY);
@@ -1987,7 +1979,6 @@ usage()
 	PX4_INFO("options:");
 	PX4_INFO("    -X    (external bus)");
 	PX4_INFO("    -R rotation");
-	PX4_INFO("    -a range in ga 2,4,8");
 }
 
 } // namespace
@@ -1998,7 +1989,6 @@ fxos8701cq_main(int argc, char *argv[])
 	bool external_bus = false;
 	int ch;
 	enum Rotation rotation = ROTATION_NONE;
-	int accel_range = 8;
 
 	int myoptind = 1;
 	const char *myoptarg = NULL;
@@ -2013,10 +2003,6 @@ fxos8701cq_main(int argc, char *argv[])
 			rotation = (enum Rotation)atoi(myoptarg);
 			break;
 
-		case 'a':
-			accel_range = atoi(myoptarg);
-			break;
-
 		default:
 			fxos8701cq::usage();
 			exit(0);
@@ -2030,7 +2016,7 @@ fxos8701cq_main(int argc, char *argv[])
 
 	 */
 	if (!strcmp(verb, "start")) {
-		fxos8701cq::start(external_bus, rotation, accel_range);
+		fxos8701cq::start(external_bus, rotation);
 	}
 
 	/*
diff --git a/src/drivers/imu/lsm303d/lsm303d.cpp b/src/drivers/imu/lsm303d/lsm303d.cpp
index 7c694d76b4..6b48600c1f 100644
--- a/src/drivers/imu/lsm303d/lsm303d.cpp
+++ b/src/drivers/imu/lsm303d/lsm303d.cpp
@@ -911,10 +911,6 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		/* arg needs to be in G */
-		return accel_set_range(arg);
-
 	case ACCELIOCGRANGE:
 		/* convert to m/s^2 and return rounded in G */
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
@@ -1824,10 +1820,6 @@ start(bool external_bus, enum Rotation rotation, unsigned range)
 		goto fail;
 	}
 
-	if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
-		goto fail;
-	}
-
 	fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
 
 	/* don't fail if open cannot be opened */
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index 616b1e06ce..e9d6131d32 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -1385,9 +1385,6 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		return set_accel_range(arg);
-
 	case ACCELIOCGRANGE:
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
 
@@ -2134,8 +2131,8 @@ struct mpu6000_bus_option {
 #define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
 
 
-void	start(enum MPU6000_BUS busid, enum Rotation rotation, int range, int device_type);
-bool 	start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int range, int device_type);
+void	start(enum MPU6000_BUS busid, enum Rotation rotation, int device_type);
+bool 	start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_type);
 void	stop(enum MPU6000_BUS busid);
 void	test(enum MPU6000_BUS busid);
 static struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid);
@@ -2165,7 +2162,7 @@ struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid)
  * start driver for a specific bus option
  */
 bool
-start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int range, int device_type)
+start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_type)
 {
 	int fd = -1;
 
@@ -2210,10 +2207,6 @@ start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int range, int
 		goto fail;
 	}
 
-	if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
-		goto fail;
-	}
-
 	close(fd);
 
 	return true;
@@ -2239,7 +2232,7 @@ fail:
  * or failed to detect the sensor.
  */
 void
-start(enum MPU6000_BUS busid, enum Rotation rotation, int range, int device_type)
+start(enum MPU6000_BUS busid, enum Rotation rotation, int device_type)
 {
 
 	bool started = false;
@@ -2260,7 +2253,7 @@ start(enum MPU6000_BUS busid, enum Rotation rotation, int range, int device_type
 			continue;
 		}
 
-		started |= start_bus(bus_options[i], rotation, range, device_type);
+		started |= start_bus(bus_options[i], rotation, device_type);
 	}
 
 	exit(started ? 0 : 1);
@@ -2464,7 +2457,6 @@ usage()
 	warnx("    -z internal2 SPI bus");
 	warnx("    -T 6000|20608|20602 (default 6000)");
 	warnx("    -R rotation");
-	warnx("    -a accel range (in g)");
 }
 
 } // namespace
@@ -2479,7 +2471,6 @@ mpu6000_main(int argc, char *argv[])
 	enum MPU6000_BUS busid = MPU6000_BUS_ALL;
 	int device_type = MPU_DEVICE_TYPE_MPU6000;
 	enum Rotation rotation = ROTATION_NONE;
-	int accel_range = MPU6000_ACCEL_DEFAULT_RANGE_G;
 
 	while ((ch = px4_getopt(argc, argv, "T:XISsZzR:a:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
@@ -2515,10 +2506,6 @@ mpu6000_main(int argc, char *argv[])
 			rotation = (enum Rotation)atoi(myoptarg);
 			break;
 
-		case 'a':
-			accel_range = atoi(myoptarg);
-			break;
-
 		default:
 			mpu6000::usage();
 			return 0;
@@ -2536,7 +2523,7 @@ mpu6000_main(int argc, char *argv[])
 	 * Start/load the driver.
 	 */
 	if (!strcmp(verb, "start")) {
-		mpu6000::start(busid, rotation, accel_range, device_type);
+		mpu6000::start(busid, rotation, device_type);
 	}
 
 	if (!strcmp(verb, "stop")) {
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 493993988b..f7dc54e391 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -845,9 +845,6 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		return set_accel_range(arg);
-
 	case ACCELIOCGRANGE:
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
 
diff --git a/src/modules/simulator/accelsim/accelsim.cpp b/src/modules/simulator/accelsim/accelsim.cpp
index 2b5f542a25..33a4fc98e9 100644
--- a/src/modules/simulator/accelsim/accelsim.cpp
+++ b/src/modules/simulator/accelsim/accelsim.cpp
@@ -583,10 +583,6 @@ ACCELSIM::devIOCTL(unsigned long cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		/* arg needs to be in G */
-		return accel_set_range(ul_arg);
-
 	case ACCELIOCGRANGE:
 		/* convert to m/s^2 and return rounded in G */
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
diff --git a/src/modules/simulator/gyrosim/gyrosim.cpp b/src/modules/simulator/gyrosim/gyrosim.cpp
index 4298e00817..ed3487c5ce 100644
--- a/src/modules/simulator/gyrosim/gyrosim.cpp
+++ b/src/modules/simulator/gyrosim/gyrosim.cpp
@@ -718,9 +718,6 @@ GYROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
 			}
 		}
 
-	case ACCELIOCSRANGE:
-		return set_accel_range(arg);
-
 	case ACCELIOCGRANGE:
 		return (unsigned long)((_accel_range_m_s2) / CONSTANTS_ONE_G + 0.5f);
 
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 150b2543f2..a9643614a3 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -332,16 +332,6 @@ do_accel(int argc, char *argv[])
 				return 1;
 			}
 
-		} else if (argc == 3 && !strcmp(argv[0], "range")) {
-
-			/* set the range to i G */
-			ret = ioctl(fd, ACCELIOCSRANGE, strtoul(argv[2], NULL, 0));
-
-			if (ret) {
-				PX4_ERR("range could not be set");
-				return 1;
-			}
-
 		} else {
 			print_usage();
 			return 1;