diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 4be2615cdb..ce88853010 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -82,9 +82,6 @@ struct gyro_calibration_s {
 /** set the gyro scaling constants to (arg) */
 #define GYROIOCSSCALE		_GYROIOC(4)
 
-/** get the gyro scaling constants into (arg) */
-#define GYROIOCGSCALE		_GYROIOC(5)
-
 /** set the gyro measurement range to handle at least (arg) degrees per second */
 #define GYROIOCSRANGE		_GYROIOC(6)
 
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index b745468955..e2e0fc48b7 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -1129,11 +1129,6 @@ ADIS16448::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		_set_gyro_dyn_range(arg);
 		return OK;
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp
index 5ee08c638f..cf4abb8b61 100644
--- a/src/drivers/imu/adis16477/ADIS16477.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477.cpp
@@ -450,11 +450,6 @@ ADIS16477::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		_set_gyro_dyn_range(arg);
 		return OK;
diff --git a/src/drivers/imu/bmi055/BMI055_gyro.cpp b/src/drivers/imu/bmi055/BMI055_gyro.cpp
index c46dba99a7..1e28bea0f0 100644
--- a/src/drivers/imu/bmi055/BMI055_gyro.cpp
+++ b/src/drivers/imu/bmi055/BMI055_gyro.cpp
@@ -410,11 +410,6 @@ BMI055_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		return set_gyro_range(arg);
 
diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp
index 9bb522b6c3..35dcc073b2 100644
--- a/src/drivers/imu/bmi160/bmi160.cpp
+++ b/src/drivers/imu/bmi160/bmi160.cpp
@@ -711,11 +711,6 @@ BMI160::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		return set_gyro_range(arg);
 
diff --git a/src/drivers/imu/fxas21002c/fxas21002c.cpp b/src/drivers/imu/fxas21002c/fxas21002c.cpp
index 9cfe991dbc..76c7eae9b8 100644
--- a/src/drivers/imu/fxas21002c/fxas21002c.cpp
+++ b/src/drivers/imu/fxas21002c/fxas21002c.cpp
@@ -745,11 +745,6 @@ FXAS21002C::ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		/* arg should be in dps */
 		return set_range(arg);
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index 22c8d30e3d..a4a6dfd17c 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -669,11 +669,6 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		/* arg should be in dps */
 		return set_range(arg);
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index d927cb73d6..ec6fbf668e 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -1421,11 +1421,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		/* XXX not implemented */
 		// XXX change these two values on set:
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 87c02555ec..c22c7315d6 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -887,11 +887,6 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		/* XXX not implemented */
 		// XXX change these two values on set:
diff --git a/src/modules/simulator/gyrosim/gyrosim.cpp b/src/modules/simulator/gyrosim/gyrosim.cpp
index 4db24f4868..59b4110a43 100644
--- a/src/modules/simulator/gyrosim/gyrosim.cpp
+++ b/src/modules/simulator/gyrosim/gyrosim.cpp
@@ -755,11 +755,6 @@ GYROSIM::gyro_ioctl(unsigned long cmd, unsigned long arg)
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
-	case GYROIOCGSCALE:
-		/* copy scale out */
-		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
-		return OK;
-
 	case GYROIOCSRANGE:
 		/* XXX not implemented */
 		// XXX change these two values on set: