diff --git a/rtic-sync/src/channel.rs b/rtic-sync/src/channel.rs
index e665204a618..fe536085e16 100644
--- a/rtic-sync/src/channel.rs
+++ b/rtic-sync/src/channel.rs
@@ -102,62 +102,10 @@ impl<T, const N: usize> Channel<T, N> {
         }
     }
 
-    /// Clear any remaining items from this `Channel`.
-    pub fn clear(&mut self) {
-        for item in self.queued_items() {
-            drop(item);
-        }
-    }
-
-    /// Return an iterator over the still-queued items, removing them
-    /// from this channel.
-    pub fn queued_items(&mut self) -> impl Iterator<Item = T> + '_ {
-        struct Iter<'a, T, const N: usize> {
-            inner: &'a mut Channel<T, N>,
-        }
-
-        impl<T, const N: usize> Iterator for Iter<'_, T, N> {
-            type Item = T;
-
-            fn next(&mut self) -> Option<Self::Item> {
-                let slot = self.inner.readyq.as_mut().pop_back()?;
-
-                let value = unsafe {
-                    // SAFETY: `ready` is a valid slot.
-                    let first_element = self.inner.slots.get_unchecked(slot as usize).get_mut();
-                    let ptr = first_element.deref().as_ptr();
-                    // SAFETY: `ptr` points to an initialized `T`.
-                    core::ptr::read(ptr)
-                };
-
-                // NOTE: do not `return_free_slot`, as we have mutable
-                // access to this `Channel` and no `Receiver` or `Sender`
-                // exist.
-                debug_assert!(!self.inner.freeq.as_mut().is_full());
-                unsafe {
-                    // SAFETY: `freeq` is not ful.
-                    self.inner.freeq.as_mut().push_back_unchecked(slot);
-                }
-
-                Some(value)
-            }
-        }
-
-        Iter { inner: self }
-    }
-
     /// Split the queue into a `Sender`/`Receiver` pair.
-    ///
-    /// # Panics
-    /// This function panics if there are items in this channel while splitting.
-    ///
-    /// Call [`Channel::clear`] to clear all items from it, or [`Channel::queued_items`] to retrieve
-    /// an iterator that yields the values.
     pub fn split(&mut self) -> (Sender<'_, T, N>, Receiver<'_, T, N>) {
-        assert!(
-            self.readyq.as_mut().is_empty(),
-            "Cannot re-split non-empty queue. Call `Channel::clear()`."
-        );
+        // NOTE(assert): queue is cleared by dropping the corresponding `Receiver`.
+        debug_assert!(self.readyq.as_mut().is_empty(),);
 
         let freeq = self.freeq.as_mut();
 
@@ -193,7 +141,8 @@ impl<T, const N: usize> Channel<T, N> {
     /// 1. If there are any waiting `send`-ers, wake the longest-waiting one and hand it `slot`.
     /// 2. else, insert `slot` into `self.freeq`.
     ///
-    /// SAFETY: `slot` must be a `u8` that is obtained by dequeueing from [`Self::readyq`].
+    /// SAFETY: `slot` must be a `u8` that is obtained by dequeueing from [`Self::readyq`], and that `slot`
+    /// is returned at most once.
     unsafe fn return_free_slot(&self, slot: u8) {
         critical_section::with(|cs| {
             fence(Ordering::SeqCst);
@@ -216,11 +165,13 @@ impl<T, const N: usize> Channel<T, N> {
             }
         })
     }
-}
 
-impl<T, const N: usize> Drop for Channel<T, N> {
-    fn drop(&mut self) {
-        self.clear();
+    /// SAFETY: the caller must guarantee that `slot` is an `u8` obtained by dequeueing from [`Self::readyq`],
+    /// and is read at most once.
+    unsafe fn read_slot(&self, slot: u8) -> T {
+        let first_element = self.slots.get_unchecked(slot as usize).get_mut();
+        let ptr = first_element.deref().as_ptr();
+        ptr::read(ptr)
     }
 }
 
@@ -641,14 +592,13 @@ impl<T, const N: usize> Receiver<'_, T, N> {
 
         if let Some(rs) = ready_slot {
             // Read the value from the slots, note; this memcpy is not under a critical section.
-            let r = unsafe {
-                let first_element = self.0.slots.get_unchecked(rs as usize).get_mut();
-                let ptr = first_element.deref().as_ptr();
-                ptr::read(ptr)
-            };
+            // SAFETY: `rs` is directly obtained from `self.0.readyq` and is read exactly
+            // once.
+            let r = unsafe { self.0.read_slot(rs) };
 
             // Return the index to the free queue after we've read the value.
-            // SAFETY: `rs` comes directly from `readyq`.
+            // SAFETY: `rs` comes directly from `readyq` and is only returned
+            // once.
             unsafe { self.0.return_free_slot(rs) };
 
             Ok(r)
@@ -717,6 +667,19 @@ impl<T, const N: usize> Drop for Receiver<'_, T, N> {
             self.0.receiver_dropped(cs, |v| *v = true);
         });
 
+        let ready_slot = || {
+            critical_section::with(|cs| unsafe {
+                // SAFETY: `self.0.readyq` is not called recursively.
+                self.0.readyq(cs, |q| q.pop_back())
+            })
+        };
+
+        while let Some(slot) = ready_slot() {
+            // SAFETY: `slot` comes from `readyq` and is
+            // read exactly once.
+            drop(unsafe { self.0.read_slot(slot) })
+        }
+
         while let Some((waker, _)) = self.0.wait_queue.pop() {
             waker.wake();
         }
@@ -886,43 +849,10 @@ mod tests {
         tx.try_send(SetToTrueOnDrop(value.clone())).unwrap();
 
         drop((tx, rx));
-        drop(channel);
 
         assert!(value.load(Ordering::SeqCst));
     }
 
-    #[test]
-    pub fn cleared_item_is_dropped() {
-        let mut channel: Channel<SetToTrueOnDrop, 1> = Channel::new();
-
-        let (mut tx, rx) = channel.split();
-
-        let value = Arc::new(AtomicBool::new(false));
-        tx.try_send(SetToTrueOnDrop(value.clone())).unwrap();
-
-        drop((tx, rx));
-
-        assert!(!value.load(Ordering::SeqCst));
-
-        channel.clear();
-
-        assert!(value.load(Ordering::SeqCst));
-    }
-
-    #[test]
-    #[should_panic]
-    pub fn splitting_non_empty_channel_panics() {
-        let mut channel: Channel<(), 1> = Channel::new();
-
-        let (mut tx, rx) = channel.split();
-
-        tx.try_send(()).unwrap();
-
-        drop((tx, rx));
-
-        channel.split();
-    }
-
     #[test]
     pub fn splitting_empty_channel_works() {
         let mut channel: Channel<(), 1> = Channel::new();
@@ -933,7 +863,6 @@ mod tests {
 
         drop((tx, rx));
 
-        channel.clear();
         channel.split();
     }
 }