diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index af630c694c..d194a31945 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -1181,11 +1181,6 @@ void NavEKF3_core::selectHeightForFusion()
         if (dal.get_takeoff_expected() || dal.get_touchdown_expected()) {
             posDownObsNoise *= frontend->gndEffectBaroScaler;
         }
-        // If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff
-        // This prevents negative baro disturbances due to rotor wash ground interaction corrupting the EKF altitude during initial ascent
-        if (motorsArmed && dal.get_takeoff_expected() && !assume_zero_sideslip()) {
-            hgtMea = MAX(hgtMea, meaHgtAtTakeOff);
-        }
         velPosObs[5] = -hgtMea;
     } else {
         fuseHgtData = false;