diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index e0c248eb9b..7361fd58ea 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -281,13 +281,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_heartbeat(msg);
 		break;
 
-	case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
-		if (_mavlink->accepting_commands()) {
-			handle_message_request_data_stream(msg);
-		}
-
-		break;
-
 	case MAVLINK_MSG_ID_SYSTEM_TIME:
 		handle_message_system_time(msg);
 		break;
@@ -1679,12 +1672,6 @@ MavlinkReceiver::handle_message_ping(mavlink_message_t *msg)
 	}
 }
 
-void
-MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
-{
-	// REQUEST_DATA_STREAM is deprecated, please use SET_MESSAGE_INTERVAL instead
-}
-
 int
 MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate)
 {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 685e743849..a4fb3a2369 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -141,7 +141,6 @@ private:
 	void handle_message_rc_channels_override(mavlink_message_t *msg);
 	void handle_message_heartbeat(mavlink_message_t *msg);
 	void handle_message_ping(mavlink_message_t *msg);
-	void handle_message_request_data_stream(mavlink_message_t *msg);
 	void handle_message_system_time(mavlink_message_t *msg);
 	void handle_message_timesync(mavlink_message_t *msg);
 	void handle_message_hil_sensor(mavlink_message_t *msg);