diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 12f2b61737..74b5209555 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -303,7 +303,6 @@ void AC_PosControl::rate_to_accel_z()
     // reset last velocity target to current target
     if (_flags.reset_rate_to_accel_z) {
         _vel_last.z = _vel_target.z;
-        _flags.reset_rate_to_accel_z = false;
     }
 
     // feed forward desired acceleration calculation