diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg
index b52f03a922..2323a67b65 100644
--- a/msg/position_setpoint.msg
+++ b/msg/position_setpoint.msg
@@ -15,7 +15,6 @@ uint8 type			# setpoint type to adjust behavior of position controller
 float32 vx			# local velocity setpoint in m/s in NED
 float32 vy			# local velocity setpoint in m/s in NED
 float32 vz			# local velocity setpoint in m/s in NED
-bool velocity_valid		# true if local velocity setpoint valid
 
 float64 lat			# latitude, in deg
 float64 lon			# longitude, in deg
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index 9dc43e562d..440a112a1a 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -599,23 +599,6 @@ bool FlightTaskAuto::_evaluateGlobalReference()
 	return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon);
 }
 
-Vector2f FlightTaskAuto::_getTargetVelocityXY()
-{
-	// guard against any bad velocity values
-	const float vx = _sub_triplet_setpoint.get().current.vx;
-	const float vy = _sub_triplet_setpoint.get().current.vy;
-	bool velocity_valid = PX4_ISFINITE(vx) && PX4_ISFINITE(vy) &&
-			      _sub_triplet_setpoint.get().current.velocity_valid;
-
-	if (velocity_valid) {
-		return Vector2f(vx, vy);
-
-	} else {
-		// just return zero speed
-		return Vector2f{};
-	}
-}
-
 State FlightTaskAuto::_getCurrentState()
 {
 	// Calculate the vehicle current state based on the Navigator triplets and the current position.
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index 302a1d66f6..167b141f2a 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -94,7 +94,6 @@ public:
 	void overrideCruiseSpeed(const float cruise_speed_m_s) override;
 
 protected:
-	matrix::Vector2f _getTargetVelocityXY(); /**< only used for follow-me and only here because of legacy reason.*/
 	void _updateInternalWaypoints(); /**< Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). */
 	bool _compute_heading_from_2D_vector(float &heading, matrix::Vector2f v); /**< Computes and sets heading a 2D vector */
 
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index 0d1808f13b..07dfc5f3f7 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -121,7 +121,6 @@ Loiter::set_loiter_position()
 	}
 
 	// convert mission item to current setpoint
-	pos_sp_triplet->current.velocity_valid = false;
 	pos_sp_triplet->previous.valid = false;
 	mission_apply_limitation(_mission_item);
 	mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
@@ -146,7 +145,6 @@ Loiter::reposition()
 
 		// convert mission item to current setpoint
 		struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-		pos_sp_triplet->current.velocity_valid = false;
 		pos_sp_triplet->previous.yaw = _navigator->get_local_position()->heading;
 		pos_sp_triplet->previous.lat = _navigator->get_global_position()->lat;
 		pos_sp_triplet->previous.lon = _navigator->get_global_position()->lon;
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 0f22467c53..5d6c54c6f5 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -1882,7 +1882,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
 		(fabsf(p1->vx - p2->vx) < FLT_EPSILON) &&
 		(fabsf(p1->vy - p2->vy) < FLT_EPSILON) &&
 		(fabsf(p1->vz - p2->vz) < FLT_EPSILON) &&
-		(p1->velocity_valid == p2->velocity_valid) &&
 		(fabs(p1->lat - p2->lat) < DBL_EPSILON) &&
 		(fabs(p1->lon - p2->lon) < DBL_EPSILON) &&
 		(fabsf(p1->alt - p2->alt) < FLT_EPSILON) &&