diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index eb11513f8..59e505fb5 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -534,19 +534,6 @@ void mixTable(pidProfile_t *pidProfile)
         }
     }
 
-    // Anti Desync feature for ESC's. Limit rapid throttle changes
-    if (motorConfig->maxEscThrottleJumpMs) {
-        const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
-
-        // Only makes sense when it's within the range
-        if (maxThrottleStep < motorOutputRange) {
-            static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
-
-            motor[i] = constrain(motor[i], motorOutputMin, motorPrevious[i] + maxThrottleStep);  // Only limit accelerating situation
-            motorPrevious[i] = motor[i];
-        }
-    }
-
     // Disarmed mode
     if (!ARMING_FLAG(ARMED)) {
         for (i = 0; i < motorCount; i++) {
diff --git a/src/main/io/motors.h b/src/main/io/motors.h
index ab55497da..8486d507d 100644
--- a/src/main/io/motors.h
+++ b/src/main/io/motors.h
@@ -24,7 +24,6 @@ typedef struct motorConfig_s {
     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
-    uint16_t maxEscThrottleJumpMs;
     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
     uint8_t  motorPwmProtocol;              // Pwm Protocol
     uint8_t  useUnsyncedPwm;
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index c50d0be38..8e5cd7a0b 100755
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -715,8 +715,6 @@ const clivalue_t valueTable[] = {
 #ifdef USE_DSHOT
     { "digital_idle_percent",       VAR_FLOAT  | MASTER_VALUE,  &motorConfig()->digitalIdleOffsetPercent, .config.minmax = { 0,  20} },
 #endif
-    { "max_esc_throttle_jump",      VAR_UINT16 | MASTER_VALUE,  &motorConfig()->maxEscThrottleJumpMs, .config.minmax = { 0,  1000 } },
-
     { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_low, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
     { "3d_deadband_high",           VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_high, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
     { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->neutral3d, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },