diff --git a/docs/development/msp/README.md b/docs/development/msp/README.md
index 7377eef84bc..96d7e2931a0 100644
--- a/docs/development/msp/README.md
+++ b/docs/development/msp/README.md
@@ -282,7 +282,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
 [113 - MSP_ACTIVEBOXES](#msp_activeboxes)  
 [114 - MSP_MISC](#msp_misc)  
 [116 - MSP_BOXNAMES](#msp_boxnames)  
-[117 - MSP_PIDNAMES](#msp_pidnames)  
 [118 - MSP_WP](#msp_wp)  
 [119 - MSP_BOXIDS](#msp_boxids)  
 [120 - MSP_SERVO_CONFIGURATIONS](#msp_servo_configurations)  
@@ -2047,16 +2046,6 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
 
 **Notes:** The exact set of names depends on compiled features and configuration. Due to the size of the payload, it is recommended that [`MSP_BOXIDS`](#msp_boxids-119--0x77) is used instead.
 
-## <a id="msp_pidnames"></a>`MSP_PIDNAMES (117 / 0x75)`
-**Description:** Provides a semicolon-separated string containing the names of the PID controllers.  
-
-**Request Payload:** **None**  
-  
-**Reply Payload:**
-|Field|C Type|Size (Bytes)|Description|
-|---|---|---|---|
-| `pidNamesString` | `char[]` | array | String "ROLL;PITCH;YAW;ALT;Pos;PosR;NavR;LEVEL;MAG;VEL;". Null termination not guaranteed by MSP |
-
 ## <a id="msp_wp"></a>`MSP_WP (118 / 0x76)`
 **Description:** Get/Set a single waypoint from the mission plan.  
   
diff --git a/docs/development/msp/msp_messages.json b/docs/development/msp/msp_messages.json
index 176833915ad..1e616fa3d73 100644
--- a/docs/development/msp/msp_messages.json
+++ b/docs/development/msp/msp_messages.json
@@ -1,7 +1,7 @@
 {
     "version": {
-        "major": 2,
-        "minor": 1,
+        "major": 3,
+        "minor": 0,
         "patch": 0
     },
     "messages": {
@@ -4184,27 +4184,6 @@
             "notes": "The exact set of names depends on compiled features and configuration. Due to the size of the payload, it is recommended that [`MSP_BOXIDS`](#msp_boxids-119--0x77) is used instead.",
             "description": "Provides a semicolon-separated string containing the names of all available flight modes (boxes)."
         },
-        "MSP_PIDNAMES": {
-            "code": 117,
-            "mspv": 1,
-            "replaced_by": [],
-            "request": null,
-            "reply": {
-                "payload": [
-                    {
-                        "name": "pidNamesString",
-                        "desc": "String \"ROLL;PITCH;YAW;ALT;Pos;PosR;NavR;LEVEL;MAG;VEL;\". Null termination not guaranteed by MSP",
-                        "ctype": "char",
-                        "array": true,
-                        "array_size": 0,
-                        "units": ""
-                    }
-                ]
-            },
-            "variable_len": true,
-            "notes": "",
-            "description": "Provides a semicolon-separated string containing the names of the PID controllers."
-        },
         "MSP_WP": {
             "code": 118,
             "mspv": 1,
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index 1edf45749e2..895dc1a377d 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -156,20 +156,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 // from mixer.c
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 
-static const char pidnames[] =
-    "ROLL;"
-    "PITCH;"
-    "YAW;"
-    "ALT;"
-    "Pos;"
-    "PosR;"
-    "NavR;"
-    "LEVEL;"
-    "MAG;"
-    "VEL;"
-    "HEADING;"
-    "SPEED;";
-
 typedef enum {
     MSP_SDCARD_STATE_NOT_PRESENT = 0,
     MSP_SDCARD_STATE_FATAL       = 1,
@@ -844,12 +830,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         #endif
         break;
 
-    case MSP_PIDNAMES:
-        for (const char *c = pidnames; *c; c++) {
-            sbufWriteU8(dst, *c);
-        }
-        break;
-
     case MSP_MODE_RANGES:
         for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
             const modeActivationCondition_t *mac = modeActivationConditions(i);
diff --git a/src/main/msp/msp_protocol.h b/src/main/msp/msp_protocol.h
index 6b4705a738c..df928ba09cd 100644
--- a/src/main/msp/msp_protocol.h
+++ b/src/main/msp/msp_protocol.h
@@ -245,7 +245,6 @@
 #define MSP_ACTIVEBOXES          113    //out message         Active box flags (full width, more than 32 bits)
 #define MSP_MISC                 114    //DEPRECATED in INAV 9.1 - use MSP2_INAV_MISC instead. Will be removed in INAV 10.0
 #define MSP_BOXNAMES             116    //out message         the aux switch names
-#define MSP_PIDNAMES             117    //DEPRECATED in INAV 9.1 - no replacement needed (static data). Will be removed in INAV 10.0
 #define MSP_WP                   118    //out message         get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
 #define MSP_BOXIDS               119    //out message         get the permanent IDs associated to BOXes
 #define MSP_SERVO_CONFIGURATIONS 120    //out message         All servo configurations.