diff --git a/system/sensord/SConscript b/system/sensord/SConscript
index e2dfb522c6..1222f0bfcd 100644
--- a/system/sensord/SConscript
+++ b/system/sensord/SConscript
@@ -2,10 +2,6 @@ Import('env', 'arch', 'common', 'messaging')
 
 sensors = [
   'sensors/i2c_sensor.cc',
-  'sensors/bmx055_accel.cc',
-  'sensors/bmx055_gyro.cc',
-  'sensors/bmx055_magn.cc',
-  'sensors/bmx055_temp.cc',
   'sensors/lsm6ds3_accel.cc',
   'sensors/lsm6ds3_gyro.cc',
   'sensors/lsm6ds3_temp.cc',
diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc
deleted file mode 100644
index bcc31e1d6c..0000000000
--- a/system/sensord/sensors/bmx055_accel.cc
+++ /dev/null
@@ -1,85 +0,0 @@
-#include "system/sensord/sensors/bmx055_accel.h"
-
-#include <cassert>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Accel::init() {
-  int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID});
-  if (ret == -1) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // bmx055 accel has a 1.3ms wakeup time from deep suspend mode
-  util::sleep_for(10);
-
-  // High bandwidth
-  // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE);
-  // if (ret < 0) {
-  //   goto fail;
-  // }
-
-  // Low bandwidth
-  ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_DISABLE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-
-fail:
-  return ret;
-}
-
-int BMX055_Accel::shutdown()  {
-  if (!enabled) return 0;
-
-  // enter deep suspend mode (lowest power mode)
-  int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 ACCEL in deep suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Accel::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[6];
-  int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer));
-  assert(len == 6);
-
-  // 12 bit = +-2g
-  float scale = 9.81 * 2.0f / (1 << 11);
-  float x = -read_12_bit(buffer[0], buffer[1]) * scale;
-  float y = -read_12_bit(buffer[2], buffer[3]) * scale;
-  float z = read_12_bit(buffer[4], buffer[5]) * scale;
-
-  auto event = msg.initEvent().initAccelerometer2();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setSensor(SENSOR_ACCELEROMETER);
-  event.setType(SENSOR_TYPE_ACCELEROMETER);
-  event.setTimestamp(start_time);
-
-  float xyz[] = {x, y, z};
-  auto svec = event.initAcceleration();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}
diff --git a/system/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h
deleted file mode 100644
index 2cc316e992..0000000000
--- a/system/sensord/sensors/bmx055_accel.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_ACCEL_I2C_ADDR       0x18
-
-// Registers of the chip
-#define BMX055_ACCEL_I2C_REG_ID     0x00
-#define BMX055_ACCEL_I2C_REG_X_LSB  0x02
-#define BMX055_ACCEL_I2C_REG_TEMP   0x08
-#define BMX055_ACCEL_I2C_REG_BW     0x10
-#define BMX055_ACCEL_I2C_REG_PMU    0x11
-#define BMX055_ACCEL_I2C_REG_HBW    0x13
-#define BMX055_ACCEL_I2C_REG_FIFO   0x3F
-
-// Constants
-#define BMX055_ACCEL_CHIP_ID        0xFA
-
-#define BMX055_ACCEL_HBW_ENABLE       0b10000000
-#define BMX055_ACCEL_HBW_DISABLE      0b00000000
-#define BMX055_ACCEL_DEEP_SUSPEND     0b00100000
-#define BMX055_ACCEL_NORMAL_MODE      0b00000000
-
-#define BMX055_ACCEL_BW_7_81HZ  0b01000
-#define BMX055_ACCEL_BW_15_63HZ 0b01001
-#define BMX055_ACCEL_BW_31_25HZ 0b01010
-#define BMX055_ACCEL_BW_62_5HZ  0b01011
-#define BMX055_ACCEL_BW_125HZ   0b01100
-#define BMX055_ACCEL_BW_250HZ   0b01101
-#define BMX055_ACCEL_BW_500HZ   0b01110
-#define BMX055_ACCEL_BW_1000HZ  0b01111
-
-class BMX055_Accel : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
-public:
-  BMX055_Accel(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc
deleted file mode 100644
index 0cc405f654..0000000000
--- a/system/sensord/sensors/bmx055_gyro.cc
+++ /dev/null
@@ -1,92 +0,0 @@
-#include "system/sensord/sensors/bmx055_gyro.h"
-
-#include <cassert>
-#include <cmath>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-
-
-BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Gyro::init() {
-  int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID});
-  if (ret == -1) return -1;
-
-  ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-  // bmx055 gyro has a 30ms wakeup time from deep suspend mode
-  util::sleep_for(50);
-
-  // High bandwidth
-  // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE);
-  // if (ret < 0) {
-  //   goto fail;
-  // }
-
-  // Low bandwidth
-  ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // 116 Hz filter
-  ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // +- 125 deg/s range
-  ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-
-fail:
-  return ret;
-}
-
-int BMX055_Gyro::shutdown()  {
-  if (!enabled) return 0;
-
-  // enter deep suspend mode (lowest power mode)
-  int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 GYRO in deep suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Gyro::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[6];
-  int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
-  assert(len == 6);
-
-  // 16 bit = +- 125 deg/s
-  float scale = 125.0f / (1 << 15);
-  float x = -DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
-  float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
-  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
-
-  auto event = msg.initEvent().initGyroscope2();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
-  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
-  event.setTimestamp(start_time);
-
-  float xyz[] = {x, y, z};
-  auto svec = event.initGyroUncalibrated();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}
diff --git a/system/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h
deleted file mode 100644
index 7be3e56563..0000000000
--- a/system/sensord/sensors/bmx055_gyro.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_GYRO_I2C_ADDR        0x68
-
-// Registers of the chip
-#define BMX055_GYRO_I2C_REG_ID         0x00
-#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02
-#define BMX055_GYRO_I2C_REG_RANGE      0x0F
-#define BMX055_GYRO_I2C_REG_BW         0x10
-#define BMX055_GYRO_I2C_REG_LPM1       0x11
-#define BMX055_GYRO_I2C_REG_HBW        0x13
-#define BMX055_GYRO_I2C_REG_FIFO       0x3F
-
-// Constants
-#define BMX055_GYRO_CHIP_ID         0x0F
-
-#define BMX055_GYRO_HBW_ENABLE       0b10000000
-#define BMX055_GYRO_HBW_DISABLE      0b00000000
-#define BMX055_GYRO_DEEP_SUSPEND     0b00100000
-#define BMX055_GYRO_NORMAL_MODE      0b00000000
-
-#define BMX055_GYRO_RANGE_2000      0b000
-#define BMX055_GYRO_RANGE_1000      0b001
-#define BMX055_GYRO_RANGE_500       0b010
-#define BMX055_GYRO_RANGE_250       0b011
-#define BMX055_GYRO_RANGE_125       0b100
-
-#define BMX055_GYRO_BW_116HZ 0b0010
-
-
-class BMX055_Gyro : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;}
-public:
-  BMX055_Gyro(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc
deleted file mode 100644
index b498c5fe3d..0000000000
--- a/system/sensord/sensors/bmx055_magn.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "system/sensord/sensors/bmx055_magn.h"
-
-#include <unistd.h>
-
-#include <algorithm>
-#include <cassert>
-#include <cstdio>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
-  uint16_t process_comp_x0 = data_rhall;
-  int32_t process_comp_x1 = ((int32_t)trim_data.dig_xyz1) * 16384;
-  uint16_t process_comp_x2 = ((uint16_t)(process_comp_x1 / process_comp_x0)) - ((uint16_t)0x4000);
-  int16_t retval = ((int16_t)process_comp_x2);
-  int32_t process_comp_x3 = (((int32_t)retval) * ((int32_t)retval));
-  int32_t process_comp_x4 = (((int32_t)trim_data.dig_xy2) * (process_comp_x3 / 128));
-  int32_t process_comp_x5 = (int32_t)(((int16_t)trim_data.dig_xy1) * 128);
-  int32_t process_comp_x6 = ((int32_t)retval) * process_comp_x5;
-  int32_t process_comp_x7 = (((process_comp_x4 + process_comp_x6) / 512) + ((int32_t)0x100000));
-  int32_t process_comp_x8 = ((int32_t)(((int16_t)trim_data.dig_x2) + ((int16_t)0xA0)));
-  int32_t process_comp_x9 = ((process_comp_x7 * process_comp_x8) / 4096);
-  int32_t process_comp_x10 = ((int32_t)mag_data_x) * process_comp_x9;
-  retval = ((int16_t)(process_comp_x10 / 8192));
-  retval = (retval + (((int16_t)trim_data.dig_x1) * 8)) / 16;
-
-  return retval;
-}
-
-static int16_t compensate_y(trim_data_t trim_data, int16_t mag_data_y, uint16_t data_rhall) {
-  uint16_t process_comp_y0 = trim_data.dig_xyz1;
-  int32_t process_comp_y1 = (((int32_t)trim_data.dig_xyz1) * 16384) / process_comp_y0;
-  uint16_t process_comp_y2 = ((uint16_t)process_comp_y1) - ((uint16_t)0x4000);
-  int16_t retval = ((int16_t)process_comp_y2);
-  int32_t process_comp_y3 = ((int32_t) retval) * ((int32_t)retval);
-  int32_t process_comp_y4 = ((int32_t)trim_data.dig_xy2) * (process_comp_y3 / 128);
-  int32_t process_comp_y5 = ((int32_t)(((int16_t)trim_data.dig_xy1) * 128));
-  int32_t process_comp_y6 = ((process_comp_y4 + (((int32_t)retval) * process_comp_y5)) / 512);
-  int32_t process_comp_y7 = ((int32_t)(((int16_t)trim_data.dig_y2) + ((int16_t)0xA0)));
-  int32_t process_comp_y8 = (((process_comp_y6 + ((int32_t)0x100000)) * process_comp_y7) / 4096);
-  int32_t process_comp_y9 = (((int32_t)mag_data_y) * process_comp_y8);
-  retval = (int16_t)(process_comp_y9 / 8192);
-  retval = (retval + (((int16_t)trim_data.dig_y1) * 8)) / 16;
-
-  return retval;
-}
-
-static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t data_rhall) {
-  int16_t process_comp_z0 = ((int16_t)data_rhall) - ((int16_t) trim_data.dig_xyz1);
-  int32_t process_comp_z1 = (((int32_t)trim_data.dig_z3) * ((int32_t)(process_comp_z0))) / 4;
-  int32_t process_comp_z2 = (((int32_t)(mag_data_z - trim_data.dig_z4)) * 32768);
-  int32_t process_comp_z3 = ((int32_t)trim_data.dig_z1) * (((int16_t)data_rhall) * 2);
-  int16_t process_comp_z4 = (int16_t)((process_comp_z3 + (32768)) / 65536);
-  int32_t retval = ((process_comp_z2 - process_comp_z1) / (trim_data.dig_z2 + process_comp_z4));
-
-  /* saturate result to +/- 2 micro-tesla */
-  retval = std::clamp(retval, -32767, 32767);
-
-  /* Conversion of LSB to micro-tesla*/
-  retval = retval / 16;
-
-  return (int16_t)retval;
-}
-
-BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Magn::init() {
-  uint8_t trim_x1y1[2] = {0};
-  uint8_t trim_x2y2[2] = {0};
-  uint8_t trim_xy1xy2[2] = {0};
-  uint8_t trim_z1[2] = {0};
-  uint8_t trim_z2[2] = {0};
-  uint8_t trim_z3[2] = {0};
-  uint8_t trim_z4[2] = {0};
-  uint8_t trim_xyz1[2] = {0};
-
-  // suspend -> sleep
-  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
-  if (ret < 0) {
-    LOGD("Enabling power failed: %d", ret);
-    goto fail;
-  }
-  util::sleep_for(5); // wait until the chip is powered on
-
-  ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID});
-  if (ret == -1) {
-    goto fail;
-  }
-
-  // Load magnetometer trim
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2);
-  if (ret < 0) goto fail;
-
-  // Read trim data
-  trim_data.dig_x1 = trim_x1y1[0];
-  trim_data.dig_y1 = trim_x1y1[1];
-
-  trim_data.dig_x2 = trim_x2y2[0];
-  trim_data.dig_y2 = trim_x2y2[1];
-
-  trim_data.dig_xy1 = trim_xy1xy2[1]; // NB: MSB/LSB swapped
-  trim_data.dig_xy2 = trim_xy1xy2[0];
-
-  trim_data.dig_z1 = read_16_bit(trim_z1[0], trim_z1[1]);
-  trim_data.dig_z2 = read_16_bit(trim_z2[0], trim_z2[1]);
-  trim_data.dig_z3 = read_16_bit(trim_z3[0], trim_z3[1]);
-  trim_data.dig_z4 = read_16_bit(trim_z4[0], trim_z4[1]);
-
-  trim_data.dig_xyz1 = read_16_bit(trim_xyz1[0], trim_xyz1[1] & 0x7f);
-  assert(trim_data.dig_xyz1 != 0);
-
-  perform_self_test();
-
-  // f_max = 1 / (145us * nXY + 500us * NZ + 980us)
-  // Chose NXY = 7, NZ = 12, which gives 125 Hz,
-  // and has the same ratio as the high accuracy preset
-  ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-  return 0;
-
- fail:
-  return ret;
-}
-
-int BMX055_Magn::shutdown() {
-  if (!enabled) return 0;
-
-  // move to suspend mode
-  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 MAGN in suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Magn::perform_self_test() {
-  uint8_t buffer[8];
-  int16_t x, y;
-  int16_t neg_z, pos_z;
-
-  // Increase z reps for less false positives (~30 Hz ODR)
-  set_register(BMX055_MAGN_I2C_REG_REPXY, 1);
-  set_register(BMX055_MAGN_I2C_REG_REPZ, 64 - 1);
-
-  // Clean existing measurement
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-
-  uint8_t forced = BMX055_MAGN_FORCED;
-
-  // Negative current
-  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6));
-  util::sleep_for(100);
-
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  parse_xyz(buffer, &x, &y, &neg_z);
-
-  // Positive current
-  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6));
-  util::sleep_for(100);
-
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  parse_xyz(buffer, &x, &y, &pos_z);
-
-  // Put back in normal mode
-  set_register(BMX055_MAGN_I2C_REG_MAG, 0);
-
-  int16_t diff = pos_z - neg_z;
-  bool passed = (diff > 180) && (diff < 240);
-
-  if (!passed) {
-    LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff);
-  }
-
-  return passed;
-}
-
-bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z) {
-  bool ready = buffer[6] & 0x1;
-  if (ready) {
-    int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3;
-    int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3;
-    int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1;
-    uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2;
-    assert(data_r != 0);
-
-    *x = compensate_x(trim_data, mdata_x, data_r);
-    *y = compensate_y(trim_data, mdata_y, data_r);
-    *z = compensate_z(trim_data, mdata_z, data_r);
-  }
-  return ready;
-}
-
-
-bool BMX055_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[8];
-  int16_t _x, _y, x, y, z;
-
-  int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  bool parsed = parse_xyz(buffer, &_x, &_y, &z);
-  if (parsed) {
-
-    auto event = msg.initEvent().initMagnetometer();
-    event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-    event.setVersion(2);
-    event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
-    event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
-    event.setTimestamp(start_time);
-
-    // Move magnetometer into same reference frame as accel/gryo
-    x = -_y;
-    y = _x;
-
-    // Axis convention
-    x = -x;
-    y = -y;
-
-    float xyz[] = {(float)x, (float)y, (float)z};
-    auto svec = event.initMagneticUncalibrated();
-    svec.setV(xyz);
-    svec.setStatus(true);
-  }
-
-  // The BMX055 Magnetometer has no FIFO mode. Self running mode only goes
-  // up to 30 Hz. Therefore we put in forced mode, and request measurements
-  // at a 100 Hz. When reading the registers we have to check the ready bit
-  // To verify the measurement was completed this cycle.
-  set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED);
-
-  return parsed;
-}
diff --git a/system/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h
deleted file mode 100644
index 15c4e734b9..0000000000
--- a/system/sensord/sensors/bmx055_magn.h
+++ /dev/null
@@ -1,64 +0,0 @@
-#pragma once
-#include <tuple>
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_MAGN_I2C_ADDR        0x10
-
-// Registers of the chip
-#define BMX055_MAGN_I2C_REG_ID        0x40
-#define BMX055_MAGN_I2C_REG_PWR_0     0x4B
-#define BMX055_MAGN_I2C_REG_MAG       0x4C
-#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42
-#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48
-#define BMX055_MAGN_I2C_REG_REPXY     0x51
-#define BMX055_MAGN_I2C_REG_REPZ      0x52
-
-#define BMX055_MAGN_I2C_REG_DIG_X1       0x5D
-#define BMX055_MAGN_I2C_REG_DIG_Y1       0x5E
-#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB   0x62
-#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB   0x63
-#define BMX055_MAGN_I2C_REG_DIG_X2       0x64
-#define BMX055_MAGN_I2C_REG_DIG_Y2       0x65
-#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB   0x68
-#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB   0x69
-#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB   0x6A
-#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB   0x6B
-#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C
-#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D
-#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB   0x6E
-#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB   0x6F
-#define BMX055_MAGN_I2C_REG_DIG_XY2      0x70
-#define BMX055_MAGN_I2C_REG_DIG_XY1      0x71
-
-// Constants
-#define BMX055_MAGN_CHIP_ID     0x32
-#define BMX055_MAGN_FORCED      (0b01 << 1)
-
-struct trim_data_t {
-    int8_t dig_x1;
-    int8_t dig_y1;
-    int8_t dig_x2;
-    int8_t dig_y2;
-    uint16_t dig_z1;
-    int16_t dig_z2;
-    int16_t dig_z3;
-    int16_t dig_z4;
-    uint8_t dig_xy1;
-    int8_t dig_xy2;
-    uint16_t dig_xyz1;
-};
-
-
-class BMX055_Magn : public I2CSensor{
-  uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;}
-  trim_data_t trim_data = {0};
-  bool perform_self_test();
-  bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z);
-public:
-  BMX055_Magn(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc
deleted file mode 100644
index da7b86476c..0000000000
--- a/system/sensord/sensors/bmx055_temp.cc
+++ /dev/null
@@ -1,31 +0,0 @@
-#include "system/sensord/sensors/bmx055_temp.h"
-
-#include <cassert>
-
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-
-BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Temp::init() {
-  return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0;
-}
-
-bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[1];
-  int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float temp = 23.0f + int8_t(buffer[0]) / 2.0f;
-
-  auto event = msg.initEvent().initTemperatureSensor();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
-  event.setTimestamp(start_time);
-  event.setTemperature(temp);
-
-  return true;
-}
diff --git a/system/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h
deleted file mode 100644
index a2eabae395..0000000000
--- a/system/sensord/sensors/bmx055_temp.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "system/sensord/sensors/i2c_sensor.h"
-
-class BMX055_Temp : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
-public:
-  BMX055_Temp(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown() { return 0; }
-};
diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
index f9f51539c9..8ff9331b39 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -14,10 +14,6 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "system/sensord/sensors/bmx055_gyro.h"
-#include "system/sensord/sensors/bmx055_magn.h"
-#include "system/sensord/sensors/bmx055_temp.h"
 #include "system/sensord/sensors/constants.h"
 #include "system/sensord/sensors/lsm6ds3_accel.h"
 #include "system/sensord/sensors/lsm6ds3_gyro.h"
@@ -117,11 +113,6 @@ void polling_loop(Sensor *sensor, std::string msg_name) {
 int sensor_loop(I2CBus *i2c_bus_imu) {
   // Sensor init
   std::vector<std::tuple<Sensor *, std::string>> sensors_init = {
-    {new BMX055_Accel(i2c_bus_imu), "accelerometer2"},
-    {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"},
-    {new BMX055_Magn(i2c_bus_imu), "magnetometer"},
-    {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"},
-
     {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"},
     {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"},
     {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"},
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 15f1f2dc35..1dab652386 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -12,13 +12,6 @@ from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-BMX = {
-  ('bmx055', 'acceleration'),
-  ('bmx055', 'gyroUncalibrated'),
-  ('bmx055', 'magneticUncalibrated'),
-  ('bmx055', 'temperature'),
-}
-
 LSM = {
   ('lsm6ds3', 'acceleration'),
   ('lsm6ds3', 'gyroUncalibrated'),
@@ -30,17 +23,11 @@ MMC = {
   ('mmc5603nj', 'magneticUncalibrated'),
 }
 
-SENSOR_CONFIGURATIONS: list[set] = [
-  BMX | LSM,
-  MMC | LSM,
-  BMX | LSM_C,
-  MMC| LSM_C,
-]
-if HARDWARE.get_device_type() == "mici":
-  SENSOR_CONFIGURATIONS = [
-    LSM,
-    LSM_C,
-  ]
+SENSOR_CONFIGURATIONS: list[set] = {
+  "mici": [LSM, LSM_C],
+  "tizi": [MMC | LSM, MMC | LSM_C],
+  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
+}.get(HARDWARE.get_device_type(), [])
 
 Sensor = log.SensorEventData.SensorSource
 SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
@@ -57,13 +44,6 @@ ALL_SENSORS = {
     SensorConfig("temperature", 0, 60),
   },
 
-  Sensor.bmx055: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("magneticUncalibrated", 0, 300),
-    SensorConfig("temperature", 0, 60),
-  },
-
   Sensor.mmc5603nj: {
     SensorConfig("magneticUncalibrated", 0, 300),
   }
diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py
deleted file mode 100755
index a9cc16d707..0000000000
--- a/system/sensord/tests/ttff_test.py
+++ /dev/null
@@ -1,48 +0,0 @@
-#!/usr/bin/env python3
-
-import time
-import atexit
-
-from cereal import messaging
-from openpilot.system.manager.process_config import managed_processes
-
-TIMEOUT = 10*60
-
-def kill():
-  for proc in ['ubloxd', 'pigeond']:
-    managed_processes[proc].stop(retry=True, block=True)
-
-if __name__ == "__main__":
-  # start ubloxd
-  managed_processes['ubloxd'].start()
-  atexit.register(kill)
-
-  sm = messaging.SubMaster(['ubloxGnss'])
-
-  times = []
-  for i in range(20):
-    # start pigeond
-    st = time.monotonic()
-    managed_processes['pigeond'].start()
-
-    # wait for a >4 satellite fix
-    while True:
-      sm.update(0)
-      msg = sm['ubloxGnss']
-      if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]:
-        report = msg.measurementReport
-        if report.numMeas > 4:
-          times.append(time.monotonic() - st)
-          print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m")
-          break
-
-      if time.monotonic() - st > TIMEOUT:
-        raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m")
-
-      time.sleep(0.1)
-
-    # stop pigeond
-    managed_processes['pigeond'].stop(retry=True, block=True)
-    time.sleep(20)
-
-  print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m")