diff --git a/src/lib/motion_planning/test_velocity_smoothing.cpp b/src/lib/motion_planning/test_velocity_smoothing.cpp
deleted file mode 100644
index 65ef639d5c..0000000000
--- a/src/lib/motion_planning/test_velocity_smoothing.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * Test code for the Velocity Smoothing library
- * Build and run using: make && ./test_velocity_smoothing
- */
-
-#include "VelocitySmoothing.hpp"
-#include <cstdio>
-#include <matrix/matrix/math.hpp>
-
-int main(int argc, char *argv[])
-{
-	VelocitySmoothing trajectory[3];
-
-	float a0[3] = {0.f, 0.f, 0.f};
-	float v0[3] = {0.f, 0.f, 0.f};
-	float x0[3] = {0.f, 0.f, 0.f};
-
-	float j_max = 55.2f;
-	float a_max = 6.f;
-	float v_max = 6.f;
-
-	for (int i = 0; i < 3; i++) {
-		trajectory[i].setMaxJerk(j_max);
-		trajectory[i].setMaxAccel(a_max);
-		trajectory[i].setMaxVel(v_max);
-		trajectory[i].setCurrentAcceleration(a0[i]);
-		trajectory[i].setCurrentVelocity(v0[i]);
-	}
-
-	const float dt = 0.01f;
-
-	float velocity_setpoint[3] = {1.f, 0.f, -1.f};
-
-	for (int i = 0; i < 3; i++) {
-		trajectory[i].updateDurations(velocity_setpoint[i]);
-	}
-
-	float t123 = trajectory[0].getTotalTime();
-	int nb_steps = ceil(t123 / dt);
-	printf("Nb steps = %d\n", nb_steps);
-
-	for (int i = 0; i < nb_steps; i++) {
-		for (int i = 0; i < 3; i++) {
-			trajectory[i].updateTraj(dt);
-		}
-
-		for (int i = 0; i < 3; i++) {
-			trajectory[i].updateDurations(velocity_setpoint[i]);
-		}
-
-		VelocitySmoothing::timeSynchronization(trajectory, 2);
-
-		for (int i = 0; i < 1; i++) {
-			printf("Traj[%d]\n", i);
-			printf("jerk = %.3f\taccel = %.3f\tvel = %.3f\tpos = %.3f\n",
-			       trajectory[i].getCurrentJerk(),
-			       trajectory[i].getCurrentAcceleration(),
-			       trajectory[i].getCurrentVelocity(),
-			       trajectory[i].getCurrentPosition());
-			printf("T1 = %.3f\tT2 = %.3f\tT3 = %.3f\n", trajectory[i].getT1(), trajectory[i].getT2(), trajectory[i].getT3());
-			printf("\n");
-		}
-	}
-
-	return 0;
-}
diff --git a/src/modules/flight_mode_manager/tasks/Utility/Makefile b/src/modules/flight_mode_manager/tasks/Utility/Makefile
deleted file mode 100644
index df018d73ab..0000000000
--- a/src/modules/flight_mode_manager/tasks/Utility/Makefile
+++ /dev/null
@@ -1,12 +0,0 @@
-
-.PHONY: all tests clean
-all: test_velocity_smoothing
-
-test_velocity_smoothing: test_velocity_smoothing.cpp VelocitySmoothing.cpp
-	@g++ $^ -std=c++11 -I ../../../ -o $@
-
-tests: test_velocity_smoothing
-	@echo "Test velocity smoothing"
-
-clean:
-	@rm test_velocity_smoothing