diff --git a/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm b/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
deleted file mode 100644
index 4230785dd00dab54cf5fbdb37cb8666737d015d7..0000000000000000000000000000000000000000
--- a/ROMFS/px4fmu_common/init.d/20000_snapdragon_rc_pwm
+++ /dev/null
@@ -1,19 +0,0 @@
-#!nsh
-#
-# @name Passthrough mode for Snapdragon
-#
-# @type custom
-# @class Tool
-#
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
-# @board aerofc-v1 exclude
-#
-# @maintainer Julian Oes <julian@oes.ch>
-#
-# This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
-# passthrough of RC input and PWM output.
-
-set VEHICLE_TYPE passthrough
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 591bf837f1f37a91c5785dc69f0393c297e4057e..3a1686a67e2b6a37b9b7fbcda25f470379d13965 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -898,46 +898,6 @@ then
 		sh /etc/init.d/rc.ugv_apps
 	fi
 
-	#
-	# For snapdragon, we need a passthrough mode
-	# Do not run any mavlink instances since we need the serial port for
-	# communication with Snapdragon.
-	#
-	if [ $VEHICLE_TYPE == passthrough ]
-	then
-		mavlink stop-all
-		commander stop
-
-		# Stop multicopter attitude controller if it is running, the controls come
-		# from Snapdragon.
-		if mc_att_control stop
-		then
-		fi
-
-		# Start snapdragon interface on serial port.
-		if ver hwcmp PX4FMU_V2
-		then
-			# On Pixfalcon use the standard telemetry port (Telem 1).
-			snapdragon_rc_pwm start -d /dev/ttyS1
-			px4io start
-		fi
-
-		if ver hwcmp PX4FMU_V4
-		then
-			# On Pixracer use Telem 2 port (TL2).
-			snapdragon_rc_pwm start -d /dev/ttyS2
-			fmu mode_pwm4 $FMU_ARGS
-		fi
-
-		pwm failsafe -c 1234 -p 900
-		pwm disarmed -c 1234 -p 900
-
-		# Arm straightaway.
-		pwm arm
-		# Use 400 Hz PWM on all channels.
-		pwm rate -a -r 400
-	fi
-
 	unset MIXER
 	unset MAV_TYPE
 	unset OUTPUT_MODE
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index 3a938ab14e8cde006b84b93adbc3c05c31d7c7eb..66db077dabc367d1eb95369807313129fe5f7373 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -46,7 +46,6 @@ set(config_module_list
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
-	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
 	drivers/tfmini
 
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 5fecd0edc35398c43ae7da442723675b4423a429..71d96ef92db6adf9c6d5e713ffb62661ea8bde13 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -50,7 +50,6 @@ set(config_module_list
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
-	drivers/snapdragon_rc_pwm
 	drivers/tfmini
 
 	#
diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake
index ea74c9b2fd4faa4ba048da1ff574c2bcffd5fe1c..7c6ddcef73266ddb1bed81535732497f834a86ef 100644
--- a/cmake/configs/nuttx_nxphlite-v3_default.cmake
+++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake
@@ -52,7 +52,6 @@ set(config_module_list
 	drivers/sdp3x_airspeed
 	drivers/sf0x
 	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
 	drivers/srf02
 	drivers/tap_esc
 	drivers/teraranger
diff --git a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
index ae836838ac5a68efa8678c2d0e4988bf06df85e7..8689378686cede83e9a7d48ad0593b245cf72aba 100644
--- a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
+++ b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
@@ -45,7 +45,6 @@ set(config_module_list
 #WIP  	drivers/pwm_input
 #WIP  	drivers/camera_trigger
 	drivers/bst
-	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
 	drivers/tfmini
 
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 4c109a16afa741aa3da7a65462b76b72f602d181..1f473c242b39077e49cecdfb8a7496b7d019109b 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -48,7 +48,6 @@ set(config_module_list
 	drivers/sdp3x_airspeed
 	drivers/sf0x
 	drivers/sf1xx
-	#drivers/snapdragon_rc_pwm
 	#drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index f581cd6ebe4d8c0cd2097a06c8272f8761409cec..a3438cecd7672a2660a074c908b85f3988744d26 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -45,7 +45,6 @@ set(config_module_list
 	drivers/pwm_input
 	drivers/camera_trigger
 	#drivers/bst
-	#drivers/snapdragon_rc_pwm
 	#drivers/lis3mdl
 	drivers/tfmini
 
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index a5e3c2073bfdeb070c83b0e8793df20f9f11a5b7..dc83337837e3003bfbbdb795ea290ea9771e0544 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -54,7 +54,6 @@ set(config_module_list
 	drivers/sdp3x_airspeed
 	drivers/sf0x
 	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
 	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index cd9859a0d9c159bd2dac5d5562a93cb8ad17c914..e78b55aec0b1fce1f84a0af27dd687d3f8bb2413 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -46,7 +46,6 @@ set(config_module_list
 	drivers/sdp3x_airspeed
 	drivers/sf0x
 	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
 	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index eac7e57e025b76cc521a2409519a17712cd4e505..2f0f78e9c272747d24441c09e6fb022a244a476e 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -46,7 +46,6 @@ set(config_module_list
 	drivers/sdp3x_airspeed
 	drivers/sf0x
 	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
 	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index ca0d65453da756419109d4f00993a84c5fdecfa6..ea6493b6edcf86c8b6937bc3a6d9406fa175f6cc 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -46,7 +46,6 @@ set(config_module_list
 	drivers/sdp3x_airspeed
 	drivers/sf0x
 	drivers/sf1xx
-	drivers/snapdragon_rc_pwm
 	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index 4a90dae65388432aaa20f87fa8fbaa5a0010cc7e..13d2285317f4cd6d0d6371c127532e8615bcf1c9 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -41,7 +41,6 @@ set(config_module_list
 	drivers/rgbled
 	drivers/sdp3x_airspeed
 	drivers/sf0x
-	drivers/snapdragon_rc_pwm
 	drivers/srf02
 	drivers/stm32
 	drivers/stm32/adc
diff --git a/src/drivers/snapdragon_rc_pwm/CMakeLists.txt b/src/drivers/snapdragon_rc_pwm/CMakeLists.txt
deleted file mode 100644
index 1fb8f59121d46287d089e6deb9c0a420e88f2ade..0000000000000000000000000000000000000000
--- a/src/drivers/snapdragon_rc_pwm/CMakeLists.txt
+++ /dev/null
@@ -1,45 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2016 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.
-#
-############################################################################
-
-px4_add_module(
-	MODULE drivers__snapdragon_rc_pwm
-	MAIN snapdragon_rc_pwm
-	COMPILE_FLAGS
-		-DMAVLINK_COMM_NUM_BUFFERS=1
-	INCLUDES
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
-	SRCS
-		snapdragon_rc_pwm.cpp
-	DEPENDS
-		platforms__common
-	)
diff --git a/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp b/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
deleted file mode 100644
index 1a950cac100a9f0b05f35b4f6a2934a69e4f4e74..0000000000000000000000000000000000000000
--- a/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
+++ /dev/null
@@ -1,481 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-
-/**
- * @file snapdragon_rc_pwm.cpp
- * @author Roman Bapst <roman@px4.io>
- * @author Julian Oes <julian@oes.ch>
- *
- * This driver sends RC commands to the Snapdragon via UART. On the same UART
- * it receives pwm motor commands from the Snapdragon.
- */
-
-
-#include <stdint.h>
-
-#include <px4_tasks.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
-#include <errno.h>
-#include <string.h>
-#include <termios.h>
-#include <uORB/topics/input_rc.h>
-#include <uORB/topics/actuator_controls.h>
-
-#include <v2.0/mavlink_types.h>
-#include <v2.0/common/mavlink.h>
-
-#include "drivers/drv_pwm_output.h"
-#include <drivers/drv_hrt.h>
-
-
-#define MAX_LEN_DEV_PATH 32
-
-namespace snapdragon_rc_pwm
-{
-
-static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
-static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
-
-volatile bool _task_should_exit = false; // flag indicating if snapdragon_rc_pwm task should exit
-static char _device[MAX_LEN_DEV_PATH];
-static bool _is_running = false;         // flag indicating if snapdragon_rc_pwm app is running
-static px4_task_t _task_handle = -1;     // handle to the task main thread
-static int _uart_fd = -1;
-int _pwm_fd = -1;
-static bool _flow_control_enabled = false;
-int _rc_sub = -1;
-int32_t _pwm_disarmed;
-
-hrt_abstime _last_actuator_controls_received = 0;
-
-struct input_rc_s _rc = {};
-
-// Print out the usage information
-void usage();
-
-void start();
-
-/** snapdragon_rc_pwm stop */
-void stop();
-
-int initialise_uart();
-
-int deinitialize_uart();
-
-int enable_flow_control(bool enabled);
-
-void send_rc_mavlink();
-
-void handle_message(mavlink_message_t *msg);
-
-void set_pwm_output(mavlink_actuator_control_target_t *actuator_controls);
-
-/** task main trampoline function */
-void task_main_trampoline(int argc, char *argv[]);
-
-/** snapdragon_rc_pwm thread primary entry point */
-void task_main(int argc, char *argv[]);
-
-void task_main(int argc, char *argv[])
-{
-	char serial_buf[128];
-	mavlink_status_t serial_status = {};
-
-	_rc_sub = orb_subscribe(ORB_ID(input_rc));
-
-
-	initialise_uart();
-
-	_pwm_fd = open(PWM_OUTPUT0_DEVICE_PATH, 0);
-
-	if (_pwm_fd < 0) {
-		PX4_ERR("can't open %s", PWM_OUTPUT0_DEVICE_PATH);
-		return;
-	}
-
-	// we wait for uart actuator controls messages from snapdragon
-	px4_pollfd_struct_t fds[1];
-	fds[0].fd = _uart_fd;
-	fds[0].events = POLLIN;
-
-	param_get(param_find("PWM_DISARMED"), &_pwm_disarmed);
-
-	while (!_task_should_exit) {
-
-		// wait for up to 100ms for data
-		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
-
-		// timed out
-		if (pret == 0) {
-			// let's run the loop anyway to send RC
-		}
-
-		if (pret < 0) {
-			PX4_WARN("snapdragon_rc_pwm poll error");
-			// sleep a bit before next try
-			usleep(100000);
-			continue;
-		}
-
-		if (fds[0].revents & POLLIN) {
-			int len = ::read(_uart_fd, serial_buf, sizeof(serial_buf));
-
-			if (len > 0) {
-				mavlink_message_t msg;
-
-				for (int i = 0; i < len; ++i) {
-					if (mavlink_parse_char(MAVLINK_COMM_0, serial_buf[i], &msg, &serial_status)) {
-						// have a message, handle it
-						handle_message(&msg);
-					}
-				}
-			}
-		}
-
-		// check if we have new rc data, if yes send it to snapdragon
-		bool rc_updated = false;
-		orb_check(_rc_sub, &rc_updated);
-
-		if (rc_updated) {
-			orb_copy(ORB_ID(input_rc), _rc_sub, &_rc);
-			// send mavlink message
-			send_rc_mavlink();
-		}
-
-		// Turn motors off after timeout of 0.1s.
-		if (hrt_elapsed_time(&_last_actuator_controls_received) > 100000) {
-			set_pwm_output(nullptr);
-		}
-	}
-
-	deinitialize_uart();
-	close(_pwm_fd);
-
-}
-
-void handle_message(mavlink_message_t *msg)
-{
-	if (msg->msgid == MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET) {
-		mavlink_actuator_control_target_t actuator_controls;
-		mavlink_msg_actuator_control_target_decode(msg, &actuator_controls);
-
-		//static unsigned counter = 0;
-		//if (counter++ % 250 == 0) {
-		//	PX4_INFO("got motor controls %.2f %.2f %.2f %.2f",
-		//		 (double)actuator_controls.controls[0],
-		//		 (double)actuator_controls.controls[1],
-		//		 (double)actuator_controls.controls[2],
-		//		 (double)actuator_controls.controls[3]);
-		//}
-		set_pwm_output(&actuator_controls);
-
-		_last_actuator_controls_received = hrt_absolute_time();
-	}
-}
-
-void set_pwm_output(mavlink_actuator_control_target_t *actuator_controls)
-{
-	if (actuator_controls == nullptr) {
-		// Without valid argument, set all channels to PWM_DISARMED
-		for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
-			int ret = ::ioctl(_pwm_fd, PWM_SERVO_SET(i), _pwm_disarmed);
-
-			if (ret != OK) {
-				PX4_ERR("PWM_SERVO_SET(%d)", i);
-			}
-		}
-
-	} else {
-		for (unsigned i = 0; i < sizeof(actuator_controls->controls) / sizeof(actuator_controls->controls[0]); i++) {
-			if (!isnan(actuator_controls->controls[i])) {
-				long unsigned pwm = actuator_controls->controls[i];
-				int ret = ::ioctl(_pwm_fd, PWM_SERVO_SET(i), pwm);
-
-				if (ret != OK) {
-					PX4_ERR("PWM_SERVO_SET(%d)", i);
-				}
-			}
-		}
-	}
-}
-
-void send_rc_mavlink()
-{
-	mavlink_rc_channels_t rc_message;
-	rc_message.time_boot_ms = _rc.timestamp / 1000;
-	rc_message.chancount = _rc.channel_count;
-	rc_message.chan1_raw = (_rc.channel_count > 0) ? _rc.values[0] : UINT16_MAX;
-	rc_message.chan2_raw = (_rc.channel_count > 1) ? _rc.values[1] : UINT16_MAX;
-	rc_message.chan3_raw = (_rc.channel_count > 2) ? _rc.values[2] : UINT16_MAX;
-	rc_message.chan4_raw = (_rc.channel_count > 3) ? _rc.values[3] : UINT16_MAX;
-	rc_message.chan5_raw = (_rc.channel_count > 4) ? _rc.values[4] : UINT16_MAX;
-	rc_message.chan6_raw = (_rc.channel_count > 5) ? _rc.values[5] : UINT16_MAX;
-	rc_message.chan7_raw = (_rc.channel_count > 6) ? _rc.values[6] : UINT16_MAX;
-	rc_message.chan8_raw = (_rc.channel_count > 7) ? _rc.values[7] : UINT16_MAX;
-	rc_message.chan9_raw = (_rc.channel_count > 8) ? _rc.values[8] : UINT16_MAX;
-	rc_message.chan10_raw = (_rc.channel_count > 9) ? _rc.values[9] : UINT16_MAX;
-	rc_message.chan11_raw = (_rc.channel_count > 10) ? _rc.values[10] : UINT16_MAX;
-	rc_message.chan12_raw = (_rc.channel_count > 11) ? _rc.values[11] : UINT16_MAX;
-	rc_message.chan13_raw = (_rc.channel_count > 12) ? _rc.values[12] : UINT16_MAX;
-	rc_message.chan14_raw = (_rc.channel_count > 13) ? _rc.values[13] : UINT16_MAX;
-	rc_message.chan15_raw = (_rc.channel_count > 14) ? _rc.values[14] : UINT16_MAX;
-	rc_message.chan16_raw = (_rc.channel_count > 15) ? _rc.values[15] : UINT16_MAX;
-	rc_message.chan17_raw = (_rc.channel_count > 16) ? _rc.values[16] : UINT16_MAX;
-	rc_message.chan18_raw = (_rc.channel_count > 17) ? _rc.values[17] : UINT16_MAX;
-	rc_message.rssi = _rc.rssi;
-
-	const uint8_t msgid = MAVLINK_MSG_ID_RC_CHANNELS;
-	uint8_t component_ID = 0;
-	uint8_t payload_len = mavlink_message_lengths[msgid];
-	unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-
-	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-
-	/* header */
-	buf[0] = MAVLINK_STX;
-	buf[1] = payload_len;
-	/* no idea which numbers should be here*/
-	buf[2] = 100;
-	buf[3] = 0;
-	buf[4] = component_ID;
-	buf[5] = msgid;
-
-	/* payload */
-	memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], (const void *)&rc_message, payload_len);
-
-	/* checksum */
-	uint16_t checksum;
-	crc_init(&checksum);
-	crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
-	crc_accumulate(mavlink_message_crcs[msgid], &checksum);
-
-	buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
-	buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
-
-	int len = ::write(_uart_fd, &buf[0], packet_len);
-
-	//static unsigned counter = 0;
-	//if (counter++ % 100 == 0) {
-	//	PX4_INFO("sent %d %d %d %d %d %d", len,
-	//					   rc_message.chan1_raw,
-	//					   rc_message.chan2_raw,
-	//					   rc_message.chan3_raw,
-	//					   rc_message.chan4_raw,
-	//					   rc_message.chan5_raw);
-	//}
-
-	if (len < 1) {
-		PX4_WARN("failed sending rc mavlink message");
-	}
-}
-
-int initialise_uart()
-{
-	// open uart
-	_uart_fd = px4_open(_device, O_RDWR | O_NOCTTY);
-	int termios_state = -1;
-
-	if (_uart_fd < 0) {
-		PX4_ERR("failed to open uart device!");
-		return -1;
-	}
-
-	// set baud rate
-	int speed = B921600;
-	struct termios uart_config;
-	tcgetattr(_uart_fd, &uart_config);
-	// clear ONLCR flag (which appends a CR for every LF)
-	uart_config.c_oflag &= ~ONLCR;
-
-	/* Set baud rate */
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		warnx("ERR SET BAUD %s: %d\n", _device, termios_state);
-		::close(_uart_fd);
-		return -1;
-	}
-
-	if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
-		PX4_WARN("ERR SET CONF %s\n", _device);
-		px4_close(_uart_fd);
-		return -1;
-	}
-
-	/* setup output flow control */
-	if (enable_flow_control(false)) {
-		PX4_WARN("hardware flow disable failed");
-	}
-
-	return _uart_fd;
-}
-
-int enable_flow_control(bool enabled)
-{
-	struct termios uart_config;
-
-	int ret = tcgetattr(_uart_fd, &uart_config);
-
-	if (enabled) {
-		uart_config.c_cflag |= CRTSCTS;
-
-	} else {
-		uart_config.c_cflag &= ~CRTSCTS;
-	}
-
-	ret = tcsetattr(_uart_fd, TCSANOW, &uart_config);
-
-	if (!ret) {
-		_flow_control_enabled = enabled;
-	}
-
-	return ret;
-}
-
-int deinitialize_uart()
-{
-	return close(_uart_fd);
-}
-
-// snapdragon_rc_pwm main entrance
-void task_main_trampoline(int argc, char *argv[])
-{
-	task_main(argc, argv);
-}
-
-void start()
-{
-	ASSERT(_task_handle == -1);
-
-	/* start the task */
-	_task_handle = px4_task_spawn_cmd("snapdragon_rc_pwm_main",
-					  SCHED_DEFAULT,
-					  SCHED_PRIORITY_MAX,
-					  2000,
-					  (px4_main_t)&task_main_trampoline,
-					  nullptr);
-
-	if (_task_handle < 0) {
-		warn("task start failed");
-		return;
-	}
-
-	_is_running = true;
-}
-
-void stop()
-{
-	// TODO - set thread exit signal to terminate the task main thread
-
-	_task_should_exit = true;
-
-	_is_running = false;
-	_task_handle = -1;
-}
-
-void usage()
-{
-	PX4_WARN("missing command: try 'start', 'stop', 'status'");
-	PX4_WARN("options:");
-	PX4_WARN("    -d device");
-}
-
-
-}
-
-extern "C" __EXPORT int snapdragon_rc_pwm_main(int argc, char *argv[]);
-
-int snapdragon_rc_pwm_main(int argc, char *argv[])
-{
-	const char *device = NULL;
-	int ch;
-	int myoptind = 1;
-	const char *myoptarg = NULL;
-
-	while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
-		switch (ch) {
-		case 'd':
-			device = myoptarg;
-			break;
-
-		default:
-			snapdragon_rc_pwm::usage();
-			return 1;
-		}
-	}
-
-	const char *verb = argv[myoptind];
-
-	/*
-	 * Start/load the driver.
-	 */
-	if (!strcmp(verb, "start")) {
-
-		// Check on required arguments
-		if (device == NULL || strlen(device) == 0) {
-			snapdragon_rc_pwm::usage();
-			return 1;
-		}
-
-		memset(snapdragon_rc_pwm::_device, 0, MAX_LEN_DEV_PATH);
-		strncpy(snapdragon_rc_pwm::_device, device, strlen(device));
-
-
-		if (snapdragon_rc_pwm::_is_running) {
-			PX4_WARN("snapdragon_rc_pwm already running");
-			return 1;
-		}
-
-		snapdragon_rc_pwm::start();
-	}
-
-	else if (!strcmp(verb, "stop")) {
-		if (!snapdragon_rc_pwm::_is_running) {
-			PX4_WARN("snapdragon_rc_pwm is not running");
-			return 1;
-		}
-
-		snapdragon_rc_pwm::stop();
-	}
-
-	else if (!strcmp(verb, "status")) {
-		PX4_WARN("snapdragon_rc_pwm is %s", snapdragon_rc_pwm::_is_running ? "running" : "stopped");
-		return 0;
-
-	} else {
-		snapdragon_rc_pwm::usage();
-		return 1;
-	}
-
-	return 0;
-}