diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 61ce9f7d8e..8308a9d01e 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1407,18 +1407,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
         break;
 
-    case MSP_POSITION_ESTIMATION_CONFIG:
-
-        sbufWriteU16(dst, positionEstimationConfig()->w_z_baro_p * 100); //     inav_w_z_baro_p float as value * 100
-        sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_p * 100);  // 2   inav_w_z_gps_p  float as value * 100
-        sbufWriteU16(dst, positionEstimationConfig()->w_z_gps_v * 100);  // 2   inav_w_z_gps_v  float as value * 100
-        sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2   inav_w_xy_gps_p float as value * 100
-        sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2   inav_w_xy_gps_v float as value * 100
-        sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats);                // 1
-        sbufWriteU8(dst, 1);    // 1   inav_use_gps_velned ON/OFF
-
-        break;
-
     case MSP_REBOOT:
         if (!ARMING_FLAG(ARMED)) {
             if (mspPostProcessFn) {
@@ -2468,19 +2456,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 
-    case MSP_SET_POSITION_ESTIMATION_CONFIG:
-        if (dataSize == 12) {
-            positionEstimationConfigMutable()->w_z_baro_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
-            positionEstimationConfigMutable()->w_z_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
-            positionEstimationConfigMutable()->w_z_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
-            positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
-            positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
-            gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
-            sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned
-        } else
-            return MSP_RESULT_ERROR;
-        break;
-
     case MSP_RESET_CONF:
         if (!ARMING_FLAG(ARMED)) {
             suspendRxSignal();
diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
index f3a925828e..1a1a9a81dd 100644
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@@ -110,9 +110,6 @@
 #define MSP_CALIBRATION_DATA            14
 #define MSP_SET_CALIBRATION_DATA        15
 
-#define MSP_POSITION_ESTIMATION_CONFIG  16
-#define MSP_SET_POSITION_ESTIMATION_CONFIG  17
-
 #define MSP_WP_MISSION_LOAD             18      // Load mission from NVRAM
 #define MSP_WP_MISSION_SAVE             19      // Save mission to NVRAM
 #define MSP_WP_GETINFO                  20