diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 0286439ef4..2864427a92 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -318,11 +318,6 @@ AC_PosControl::AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav,
     _jerk_max_z_cmsss(POSCONTROL_JERK_Z * 100.0)
 {
     AP_Param::setup_object_defaults(this, var_info);
-
-    // initialise flags
-    _limit.pos_xy = true;
-    _limit.pos_up = true;
-    _limit.pos_down = true;
 }
 
 
@@ -620,7 +615,7 @@ void AC_PosControl::update_xy_controller()
     // Position Controller
 
     const Vector3f &curr_pos = _inav.get_position();
-    Vector2f vel_target = _p_pos_xy.update_all(_pos_target.x, _pos_target.y, curr_pos, _limit.pos_xy);
+    Vector2f vel_target = _p_pos_xy.update_all(_pos_target.x, _pos_target.y, curr_pos);
 
     // add velocity feed-forward scaled to compensate for optical flow measurement induced EKF noise
     vel_target *= ahrsControlScaleXY;
@@ -958,7 +953,7 @@ void AC_PosControl::update_z_controller()
     // calculate the target velocity correction
     float pos_target_zf = _pos_target.z;
 
-    _vel_target.z = _p_pos_z.update_all(pos_target_zf, curr_alt, _limit.pos_down, _limit.pos_up);
+    _vel_target.z = _p_pos_z.update_all(pos_target_zf, curr_alt);
     _vel_target.z *= AP::ahrs().getControlScaleZ();
 
     _pos_target.z = pos_target_zf;
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index b3b8142441..93b08190b2 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -390,13 +390,6 @@ protected:
             uint16_t vehicle_horiz_vel_override : 1; // 1 if we should use _vehicle_horiz_vel as our velocity process variable for one timestep
     } _flags;
 
-    // limit flags structure
-    struct poscontrol_limit_flags {
-        bool pos_xy;        // true if we have hit a horizontal position limit
-        bool pos_up;        // true if we have hit a vertical position limit while going up
-        bool pos_down;      // true if we have hit a vertical position limit while going down
-    } _limit;
-
     /// init_xy - initialise the position controller to the current position, velocity and acceleration.
     ///     This function is private and contains all the shared xy axis initialisation functions
     void init_xy();