diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index bd5a6c00e3..dc136c6e85 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -2351,7 +2351,7 @@ static void cliModeColor(char *cmdline)
 static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const servoParam_t *defaultServoParams)
 {
     // print out servo settings
-    const char *format = "servo %u %d %d %d %d %d %d %d\r\n";
+    const char *format = "servo %u %d %d %d %d %d\r\n";
     for (uint32_t i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         const servoParam_t *servoConf = &servoParams[i];
         bool equalsDefault = false;
@@ -2360,7 +2360,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
             equalsDefault = servoConf->min == defaultServoConf->min
                 && servoConf->max == defaultServoConf->max
                 && servoConf->middle == defaultServoConf->middle
-                && servoConf->angleAtMin == defaultServoConf->angleAtMax
                 && servoConf->rate == defaultServoConf->rate
                 && servoConf->forwardFromChannel == defaultServoConf->forwardFromChannel;
             cliDefaultPrintf(dumpMask, equalsDefault, format,
@@ -2368,8 +2367,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
                 defaultServoConf->min,
                 defaultServoConf->max,
                 defaultServoConf->middle,
-                defaultServoConf->angleAtMin,
-                defaultServoConf->angleAtMax,
                 defaultServoConf->rate,
                 defaultServoConf->forwardFromChannel
             );
@@ -2379,8 +2376,6 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
             servoConf->min,
             servoConf->max,
             servoConf->middle,
-            servoConf->angleAtMin,
-            servoConf->angleAtMax,
             servoConf->rate,
             servoConf->forwardFromChannel
         );
@@ -2413,7 +2408,7 @@ static void printServo(uint8_t dumpMask, const servoParam_t *servoParams, const
 
 static void cliServo(char *cmdline)
 {
-    enum { SERVO_ARGUMENT_COUNT = 8 };
+    enum { SERVO_ARGUMENT_COUNT = 6 };
     int16_t arguments[SERVO_ARGUMENT_COUNT];
 
     servoParam_t *servo;
@@ -2451,7 +2446,7 @@ static void cliServo(char *cmdline)
             }
         }
 
-        enum {INDEX = 0, MIN, MAX, MIDDLE, ANGLE_AT_MIN, ANGLE_AT_MAX, RATE, FORWARD};
+        enum {INDEX = 0, MIN, MAX, MIDDLE, RATE, FORWARD};
 
         i = arguments[INDEX];
 
@@ -2469,21 +2464,17 @@ static void cliServo(char *cmdline)
             arguments[MIDDLE] < arguments[MIN] || arguments[MIDDLE] > arguments[MAX] ||
             arguments[MIN] > arguments[MAX] || arguments[MAX] < arguments[MIN] ||
             arguments[RATE] < -100 || arguments[RATE] > 100 ||
-            arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT ||
-            arguments[ANGLE_AT_MIN] < 0 || arguments[ANGLE_AT_MIN] > 180 ||
-            arguments[ANGLE_AT_MAX] < 0 || arguments[ANGLE_AT_MAX] > 180
+            arguments[FORWARD] >= MAX_SUPPORTED_RC_CHANNEL_COUNT
         ) {
             cliShowParseError();
             return;
         }
 
-        servo->min = arguments[1];
-        servo->max = arguments[2];
-        servo->middle = arguments[3];
-        servo->angleAtMin = arguments[4];
-        servo->angleAtMax = arguments[5];
-        servo->rate = arguments[6];
-        servo->forwardFromChannel = arguments[7];
+        servo->min = arguments[MIN];
+        servo->max = arguments[MAX];
+        servo->middle = arguments[MIDDLE];
+        servo->rate = arguments[RATE];
+        servo->forwardFromChannel = arguments[FORWARD];
     }
 }
 #endif
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 361fd5159e..7f967bf710 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1548,7 +1548,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
 
     case MSP_SET_SERVO_CONFIGURATION:
 #ifdef USE_SERVOS
-        if (dataSize != 1 + sizeof(servoParam_t)) {
+        if (dataSize != 1 + 14) {
             return MSP_RESULT_ERROR;
         }
         i = sbufReadU8(src);
@@ -1559,8 +1559,6 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
             servoParamsMutable(i)->max = sbufReadU16(src);
             servoParamsMutable(i)->middle = sbufReadU16(src);
             servoParamsMutable(i)->rate = sbufReadU8(src);
-            servoParamsMutable(i)->angleAtMin = sbufReadU8(src);
-            servoParamsMutable(i)->angleAtMax = sbufReadU8(src);
             servoParamsMutable(i)->forwardFromChannel = sbufReadU8(src);
             servoParamsMutable(i)->reversedSources = sbufReadU32(src);
         }
diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
index ec7f670fe7..260af81f36 100755
--- a/src/main/flight/servos.c
+++ b/src/main/flight/servos.c
@@ -84,8 +84,6 @@ void pgResetFn_servoParams(servoParam_t *instance)
             .max = DEFAULT_SERVO_MAX,
             .middle = DEFAULT_SERVO_MIDDLE,
             .rate = 100,
-            .angleAtMin = DEFAULT_SERVO_MIN_ANGLE,
-            .angleAtMax = DEFAULT_SERVO_MAX_ANGLE,
             .forwardFromChannel = CHANNEL_FORWARDING_DISABLED
         );
     }
diff --git a/src/main/flight/servos.h b/src/main/flight/servos.h
index 0f213a049d..6478c6070e 100644
--- a/src/main/flight/servos.h
+++ b/src/main/flight/servos.h
@@ -97,8 +97,6 @@ typedef struct servoParam_s {
     int16_t max;                            // servo max
     int16_t middle;                         // servo middle
     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
-    uint8_t angleAtMin;                     // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
-    uint8_t angleAtMax;                     // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
     int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 } servoParam_t;
 
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 6e122a20cf..1c70389493 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -37,8 +37,6 @@
 #define DEFAULT_SERVO_MIN 1000
 #define DEFAULT_SERVO_MIDDLE 1500
 #define DEFAULT_SERVO_MAX 2000
-#define DEFAULT_SERVO_MIN_ANGLE 90
-#define DEFAULT_SERVO_MAX_ANGLE 90
 
 typedef enum {
     RX_FRAME_PENDING = 0,