diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 11a6e83986..5bf1edea8b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -626,10 +626,6 @@ MulticopterPositionControl::Run()
 			vehicle_local_position_setpoint_s local_pos_sp{};
 			local_pos_sp.timestamp = time_stamp_now;
 			_control.getLocalPositionSetpoint(local_pos_sp);
-			// Temporary setpoint message adjustments while PositionControl class is still keeping involved internal setpoints
-			local_pos_sp.x = setpoint.x;
-			local_pos_sp.y = setpoint.y;
-			local_pos_sp.z = setpoint.z;
 
 			// Publish local position setpoint
 			// This message will be used by other modules (such as Landdetector) to determine vehicle intention.