diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 79bd4f1dc1..e6c706b8cc 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -5,14 +5,9 @@
 #if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
 
 /*
-  turn down optimisation on SITL to make debugging easier. We are not
-  short of CPU in SITL.
+  optionally turn down optimisation for debugging
  */
-#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
-#pragma GCC optimize("O0")
-#else
-#pragma GCC optimize("O3")
-#endif
+// #pragma GCC optimize("O0")
 
 #include "AP_NavEKF.h"
 #include <AP_AHRS.h>