diff --git a/msg/versioned/ArmingCheckReply.msg b/msg/versioned/ArmingCheckReply.msg
index 1a1aaa518379..b90b07cead9c 100644
--- a/msg/versioned/ArmingCheckReply.msg
+++ b/msg/versioned/ArmingCheckReply.msg
@@ -1,13 +1,10 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp # time since system start (microseconds)
 
 uint8 request_id
 uint8 registration_id
 
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0
-uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19
-
 uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
 bool health_component_is_present
 bool health_component_warning
diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json
index 3b73cff62ca7..d286af3d57aa 100644
--- a/src/lib/events/enums.json
+++ b/src/lib/events/enums.json
@@ -228,8 +228,8 @@
                             "description": "Mission"
                         },
                         "524288": {
-                            "name": "avoidance",
-                            "description": "Avoidance"
+                            "name": "empty_used_to_be_avoidance",
+                            "description": "empty - used to be avoidance"
                         },
                         "1048576": {
                             "name": "system",
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
index 7129e4620361..9e8838fad7b9 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
@@ -39,9 +39,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
 
-static_assert((1ull << arming_check_reply_s::HEALTH_COMPONENT_INDEX_AVOIDANCE) == (uint64_t)
-	      health_component_t::avoidance, "enum definition missmatch");
-
 class ExternalChecks : public HealthAndArmingCheckBase
 {
 public:
diff --git a/src/modules/mavlink/streams/SYS_STATUS.hpp b/src/modules/mavlink/streams/SYS_STATUS.hpp
index c875eaceaae9..7a89501793b6 100644
--- a/src/modules/mavlink/streams/SYS_STATUS.hpp
+++ b/src/modules/mavlink/streams/SYS_STATUS.hpp
@@ -144,7 +144,6 @@ class MavlinkStreamSysStatus : public MavlinkStream
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_BATTERY, health_component_t::battery, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS, health_component_t::motors_escs, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_RECOVERY_SYSTEM, health_component_t::parachute, msg);
-			fillOutComponent(health_report, MAV_SYS_STATUS_OBSTACLE_AVOIDANCE, health_component_t::avoidance, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_3D_ACCEL, health_component_t::accel, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_3D_GYRO, health_component_t::gyro, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_3D_MAG, health_component_t::magnetometer, msg);