diff --git a/src/modules/uavcanesc/uavcanesc_main.cpp b/src/modules/uavcanesc/uavcanesc_main.cpp
index e93b3724ed..7954fe9de0 100644
--- a/src/modules/uavcanesc/uavcanesc_main.cpp
+++ b/src/modules/uavcanesc/uavcanesc_main.cpp
@@ -135,18 +135,6 @@ int UavcanEsc::start(uavcan::NodeID node_id, uint32_t bitrate)
 		return -1;
 	}
 
-	/*
-	 * GPIO config.
-	 * Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
-	 * If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
-	 * fail during initialization.
-	 */
-	px4_arch_configgpio(GPIO_CAN1_RX);
-	px4_arch_configgpio(GPIO_CAN1_TX);
-#if defined(GPIO_CAN2_RX)
-	px4_arch_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
-	px4_arch_configgpio(GPIO_CAN2_TX);
-#endif
 	/*
 	 * CAN driver init
 	 */