diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc
index 35c2d03abedd6a39260b937d425a87a2fe4b5a4a..2a520fbe83bec3bce31cde1f1c3670da5104fd8a 100644
--- a/src/comm/QGCFlightGearLink.cc
+++ b/src/comm/QGCFlightGearLink.cc
@@ -221,19 +221,6 @@ void QGCFlightGearLink::setRemoteHost(const QString& host)
 
 }
 
-void QGCFlightGearLink::updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
-{
-    Q_UNUSED(time);
-    Q_UNUSED(act1);
-    Q_UNUSED(act2);
-    Q_UNUSED(act3);
-    Q_UNUSED(act4);
-    Q_UNUSED(act5);
-    Q_UNUSED(act6);
-    Q_UNUSED(act7);
-    Q_UNUSED(act8);
-}
-
 void QGCFlightGearLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
 {
     // magnetos,aileron,elevator,rudder,throttle\n
diff --git a/src/comm/QGCFlightGearLink.h b/src/comm/QGCFlightGearLink.h
index 9a9fe5aa048805f234a7d309257f6548469be7bf..8945b202496713e31c3d6dd08f75542c7339d562 100644
--- a/src/comm/QGCFlightGearLink.h
+++ b/src/comm/QGCFlightGearLink.h
@@ -103,7 +103,6 @@ public slots:
     void setRemoteHost(const QString& host);
     /** @brief Send new control states to the simulation */
     void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
-    void updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
     /** @brief Set the simulator version as text string */
     void setVersion(const QString& version)
     {
diff --git a/src/comm/QGCHilLink.h b/src/comm/QGCHilLink.h
index 57bb641439dbbc8fb52c8145dfd4276f892d30a0..abc1d36852eb154cb8cbc2b98deadeb2c0a717e1 100644
--- a/src/comm/QGCHilLink.h
+++ b/src/comm/QGCHilLink.h
@@ -49,7 +49,6 @@ public slots:
     virtual void setRemoteHost(const QString& host) = 0;
     /** @brief Send new control states to the simulation */
     virtual void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode) = 0;
-    virtual void updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8) = 0;
     virtual void processError(QProcess::ProcessError err) = 0;
     /** @brief Set the simulator version as text string */
     virtual void setVersion(const QString& version) = 0;
diff --git a/src/comm/QGCJSBSimLink.cc b/src/comm/QGCJSBSimLink.cc
index 065442fdada55d943fdb30d28d0fd9faeee42cfd..1210621bc6a61f10aa103f68bd93765ca814568f 100644
--- a/src/comm/QGCJSBSimLink.cc
+++ b/src/comm/QGCJSBSimLink.cc
@@ -233,19 +233,6 @@ void QGCJSBSimLink::setRemoteHost(const QString& host)
 
 }
 
-void QGCJSBSimLink::updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
-{
-    Q_UNUSED(time);
-    Q_UNUSED(act1);
-    Q_UNUSED(act2);
-    Q_UNUSED(act3);
-    Q_UNUSED(act4);
-    Q_UNUSED(act5);
-    Q_UNUSED(act6);
-    Q_UNUSED(act7);
-    Q_UNUSED(act8);
-}
-
 void QGCJSBSimLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
 {
     // magnetos,aileron,elevator,rudder,throttle\n
diff --git a/src/comm/QGCJSBSimLink.h b/src/comm/QGCJSBSimLink.h
index 409d78aa4678f36e3dd2269307adbaf3e98f3512..41bc4463a2a572412e7a7a1c4dbe2769ec1faf4a 100644
--- a/src/comm/QGCJSBSimLink.h
+++ b/src/comm/QGCJSBSimLink.h
@@ -92,7 +92,6 @@ public slots:
     void setRemoteHost(const QString& host);
     /** @brief Send new control states to the simulation */
     void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
-    void updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
 //    /** @brief Remove a host from broadcasting messages to */
 //    void removeHost(const QString& host);
     //    void readPendingDatagrams();
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index 503edabba0d31686c4a7b77c250d5626814b2451..5c7e512ac1b4b3c5721a2e93978e17b68570b2ec 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -183,7 +183,6 @@ void QGCXPlaneLink::run()
     QObject::connect(socket, &QUdpSocket::readyRead, this, &QGCXPlaneLink::readBytes);
 
     connect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCXPlaneLink::updateControls, Qt::QueuedConnection);
-    connect(_vehicle->uas(), &UAS::hilActuatorsChanged, this, &QGCXPlaneLink::updateActuators, Qt::QueuedConnection);
 
     connect(this, &QGCXPlaneLink::hilGroundTruthChanged, _vehicle->uas(), &UAS::sendHilGroundTruth, Qt::QueuedConnection);
     connect(this, &QGCXPlaneLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState, Qt::QueuedConnection);
@@ -240,7 +239,6 @@ void QGCXPlaneLink::run()
     }
 
     disconnect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCXPlaneLink::updateControls);
-    disconnect(_vehicle->uas(), &UAS::hilActuatorsChanged, this, &QGCXPlaneLink::updateActuators);
 
     disconnect(this, &QGCXPlaneLink::hilGroundTruthChanged, _vehicle->uas(), &UAS::sendHilGroundTruth);
     disconnect(this, &QGCXPlaneLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState);
@@ -351,68 +349,6 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
     emit remoteChanged(QString("%1:%2").arg(remoteHost.toString()).arg(remotePort));
 }
 
-void QGCXPlaneLink::updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8)
-{
-    if (_vehicle->vehicleType() == MAV_TYPE_QUADROTOR)
-    // Only update this for multirotors
-    {
-
-        Q_UNUSED(time);
-        Q_UNUSED(act5);
-        Q_UNUSED(act6);
-        Q_UNUSED(act7);
-        Q_UNUSED(act8);
-
-    #pragma pack(push, 1)
-        struct payload {
-            char b[5];
-            int index;
-            float f[8];
-        } p;
-    #pragma pack(pop)
-
-        p.b[0] = 'D';
-        p.b[1] = 'A';
-        p.b[2] = 'T';
-        p.b[3] = 'A';
-        p.b[4] = '\0';
-
-        p.index = 25;
-        memset(p.f, 0, sizeof(p.f));
-
-        p.f[0] = act1;
-        p.f[1] = act2;
-        p.f[2] = act3;
-        p.f[3] = act4;
-
-        // XXX the system corrects for the scale onboard, do not scale again
-
-//        if (airframeID == AIRFRAME_QUAD_X_MK_10INCH_I2C)
-//        {
-//            p.f[0] = act1 / 255.0f;
-//            p.f[1] = act2 / 255.0f;
-//            p.f[2] = act3 / 255.0f;
-//            p.f[3] = act4 / 255.0f;
-//        }
-//        else if (airframeID == AIRFRAME_QUAD_X_ARDRONE)
-//        {
-//            p.f[0] = act1 / 500.0f;
-//            p.f[1] = act2 / 500.0f;
-//            p.f[2] = act3 / 500.0f;
-//            p.f[3] = act4 / 500.0f;
-//        }
-//        else
-//        {
-//            p.f[0] = (act1 - 1000.0f) / 1000.0f;
-//            p.f[1] = (act2 - 1000.0f) / 1000.0f;
-//            p.f[2] = (act3 - 1000.0f) / 1000.0f;
-//            p.f[3] = (act4 - 1000.0f) / 1000.0f;
-//        }
-        // Throttle
-        writeBytes((const char*)&p, sizeof(p));
-    }
-}
-
 void QGCXPlaneLink::updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode)
 {
     #pragma pack(push, 1)
diff --git a/src/comm/QGCXPlaneLink.h b/src/comm/QGCXPlaneLink.h
index faee171029fea94111bcc6a04eb89857f8c4f9fd..3ead098e0d2927cf6f237d7157f04f21ec81ae6c 100644
--- a/src/comm/QGCXPlaneLink.h
+++ b/src/comm/QGCXPlaneLink.h
@@ -112,8 +112,6 @@ public slots:
     void setRemoteHost(const QString& host);
     /** @brief Send new control states to the simulation */
     void updateControls(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
-    /** @brief Send new motor control states to the simulation */
-    void updateActuators(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
     /** @brief Set the simulator version as text string */
     void setVersion(const QString& version);
     /** @brief Set the simulator version as integer */
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index fe5e957d7206ed427568f42754eb8fbf3587d33d..fcbae73795b52da542fc80d77eb774326dff4cac 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -614,8 +614,6 @@ signals:
     void imageReady(UASInterface* uas);
     /** @brief HIL controls have changed */
     void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
-    /** @brief HIL actuator outputs have changed */
-    void hilActuatorsChanged(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
 
     void localXChanged(double val,QString name);
     void localYChanged(double val,QString name);