diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 1dd6d659b118e0..8b64dc07d988ea 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -369,8 +369,6 @@ def config_option(self):
     Feature('MAVLink', 'MAVLINK_VERSION_REQUEST', 'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'Enable Old AUTOPILOT_VERSION_REQUEST mesage', 0, None),  # noqa
     Feature('MAVLink', 'REQUEST_AUTOPILOT_CAPA', 'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'Enable Old REQUEST_AUTOPILOT_CAPABILITIES command', 0, None),  # noqa
     Feature('MAVLink', 'MAV_MSG_RELAY_STATUS', 'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'Enable Send RELAY_STATUS message', 0, 'RELAY'),  # noqa
-    Feature('MAVLink', 'MAV_MSG_MOUNT_CONTROL', 'AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'Enable Deprecated MOUNT_CONTROL message', 0, "MOUNT"),  # noqa
-    Feature('MAVLink', 'MAV_MSG_MOUNT_CONFIGURE', 'AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'Enable Deprecated MOUNT_CONFIGURE message', 0, "MOUNT"),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_BATTERY2_ENABLED', 'AP_MAVLINK_BATTERY2_ENABLED', 'Enable Send old BATTERY2 message', 0, None),  # noqa
     Feature('MAVLink', 'MAV_DEVICE_OP', 'AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'Enable DeviceOp MAVLink messages', 0, None),  # noqa
     Feature('MAVLink', 'MAV_SERVO_RELAY', 'AP_MAVLINK_SERVO_RELAY_ENABLED', 'Enable ServoRelay MAVLink messages', 0, 'SERVORELAY_EVENTS'),  # noqa
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 4224f2de4b4d49..e37f206df0493c 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -248,8 +248,6 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'GCS_MAVLINK::handle_command_request_autopilot_capabilities'),  # noqa
             ('AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'GCS_MAVLINK::send_relay_status'),
             ('AP_MAVLINK_BATTERY2_ENABLED', 'GCS_MAVLINK::send_battery2'),
-            ('AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'AP_Mount::handle_mount_control'),
-            ('AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'AP_Mount::handle_mount_configure'),
             ('AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'GCS_MAVLINK::handle_device_op_write'),
             ('AP_MAVLINK_SERVO_RELAY_ENABLED', 'GCS_MAVLINK::handle_servorelay_message'),
             ('AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'GCS_MAVLINK::handle_serial_control'),
diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 0b64b1063bb0e2..d28b11f49e3f5d 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -574,40 +574,6 @@ void AP_Mount::handle_global_position_int(const mavlink_message_t &msg)
     }
 }
 
-#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
-/// Change the configuration of the mount
-void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
-{
-    auto *backend = get_primary();
-    if (backend == nullptr) {
-        return;
-    }
-
-    mavlink_mount_configure_t packet;
-    mavlink_msg_mount_configure_decode(&msg, &packet);
-
-    // send message to backend
-    backend->handle_mount_configure(packet);
-}
-#endif
-
-#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
-/// Control the mount (depends on the previously set mount configuration)
-void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
-{
-    auto *backend = get_primary();
-    if (backend == nullptr) {
-        return;
-    }
-
-    mavlink_mount_control_t packet;
-    mavlink_msg_mount_control_decode(&msg, &packet);
-
-    // send message to backend
-    backend->handle_mount_control(packet);
-}
-#endif
-
 #if HAL_GCS_ENABLED
 // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
 void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan)
@@ -988,16 +954,6 @@ void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t &m
     case MAVLINK_MSG_ID_GIMBAL_REPORT:
         handle_gimbal_report(chan, msg);
         break;
-#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
-    case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
-        handle_mount_configure(msg);
-        break;
-#endif
-#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
-    case MAVLINK_MSG_ID_MOUNT_CONTROL:
-        handle_mount_control(msg);
-        break;
-#endif
     case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
         handle_global_position_int(msg);
         break;
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index d34f5816368938..7b4b9ec5091f37 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -316,12 +316,6 @@ class AP_Mount
     AP_Mount_Backend *get_instance(uint8_t instance) const;
 
     void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg);
-#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
-    void handle_mount_configure(const mavlink_message_t &msg);
-#endif
-#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
-    void handle_mount_control(const mavlink_message_t &msg);
-#endif
 
     MAV_RESULT handle_command_do_mount_configure(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_mount_control(const mavlink_command_int_t &packet);
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index 531d01c30a6e36..71a581b288c6bd 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -189,14 +189,6 @@ void AP_Mount_Backend::set_target_sysid(uint8_t sysid)
     }
 }
 
-#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
-// process MOUNT_CONFIGURE messages received from GCS. deprecated.
-void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &packet)
-{
-    set_mode((MAV_MOUNT_MODE)packet.mount_mode);
-}
-#endif
-
 #if HAL_GCS_ENABLED
 // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
 void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan)
@@ -299,44 +291,6 @@ void AP_Mount_Backend::send_gimbal_manager_status(mavlink_channel_t chan)
                                            0);                          // secondary control component id
 }
 
-#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
-// process MOUNT_CONTROL messages received from GCS. deprecated.
-void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packet)
-{
-    switch (get_mode()) {
-    case MAV_MOUNT_MODE_MAVLINK_TARGETING:
-        // input_a : Pitch in centi-degrees (earth-frame)
-        // input_b : Roll in centi-degrees (earth-frame)
-        // input_c : Yaw in centi-degrees (interpreted as body-frame)
-        set_angle_target(packet.input_b * 0.01, packet.input_a * 0.01, packet.input_c * 0.01, false);
-        break;
-
-    case MAV_MOUNT_MODE_GPS_POINT: {
-        // input_a : lat in degE7
-        // input_b : lon in degE7
-        // input_c : alt  in cm (interpreted as above home)
-        const Location target_location {
-            packet.input_a,
-            packet.input_b,
-            packet.input_c,
-            Location::AltFrame::ABOVE_HOME
-        };
-        set_roi_target(target_location);
-        break;
-    }
-
-    case MAV_MOUNT_MODE_RETRACT:
-    case MAV_MOUNT_MODE_NEUTRAL:
-    case MAV_MOUNT_MODE_RC_TARGETING:
-    case MAV_MOUNT_MODE_SYSID_TARGET:
-    case MAV_MOUNT_MODE_HOME_LOCATION:
-    default:
-        // no effect in these modes
-        break;
-    }
-}
-#endif
-
 // handle do_mount_control command.  Returns MAV_RESULT_ACCEPTED on success
 MAV_RESULT AP_Mount_Backend::handle_command_do_mount_control(const mavlink_command_int_t &packet)
 {
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index 62b46e0c4e275b..8628694e82929a 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -107,16 +107,6 @@ class AP_Mount_Backend
     // requires original message in order to extract caller's sysid and compid
     MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
 
-#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
-    // process MOUNT_CONFIGURE messages received from GCS. deprecated.
-    void handle_mount_configure(const mavlink_mount_configure_t &msg);
-#endif
-
-#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
-    // process MOUNT_CONTROL messages received from GCS. deprecated.
-    void handle_mount_control(const mavlink_mount_control_t &packet);
-#endif
-
     // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
     void send_gimbal_device_attitude_status(mavlink_channel_t chan);
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 8fb6bc3f8f40b7..83eb282ac0274f 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4284,18 +4284,6 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
 #endif
 
 #if HAL_MOUNT_ENABLED
-#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
-    case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
-        send_received_message_deprecation_warning("MOUNT_CONFIGURE");
-        handle_mount_message(msg);
-        break;
-#endif
-#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
-    case MAVLINK_MSG_ID_MOUNT_CONTROL: // deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
-        send_received_message_deprecation_warning("MOUNT_CONTROL");
-        handle_mount_message(msg);
-        break;
-#endif
     case MAVLINK_MSG_ID_GIMBAL_REPORT:
     case MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION:
     case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS:
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 8a297bb003f1ec..24ea13a942dbb0 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -71,18 +71,6 @@
 #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED 0
 #endif
 
-// CODE_REMOVAL
-// ArduPilot 4.5 sends deprecation warnings for MOUNT_CONTROL/MOUNT_CONFIGURE
-// ArduPilot 4.6 stops compiling them in
-// ArduPilot 4.7 removes the code entirely
-#ifndef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
-#define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED 0
-#endif
-
-#ifndef AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
-#define AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED 0
-#endif
-
 // this is for both read and write messages:
 #ifndef AP_MAVLINK_MSG_DEVICE_OP_ENABLED
 #define AP_MAVLINK_MSG_DEVICE_OP_ENABLED HAL_GCS_ENABLED