diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index 0b4378906b..4c66331374 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -60,9 +60,6 @@ bool Plane::auto_takeoff_check(void)
         }
     }
 
-    // let EKF know to start GSF yaw estimator before takeoff movement starts so that yaw angle is better estimated
-    plane.ahrs.setTakeoffExpected(arming.is_armed());
-
     // we've reached the acceleration threshold, so start the timer
     if (!takeoff_state.launchTimerStarted) {
         takeoff_state.launchTimerStarted = true;