diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 296919c042..0af01cba1a 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -1052,10 +1052,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				landed = false;
 				landed_time = 0;
 			}
-			/* reset xy velocity estimates when landed */
-			x_est[1] = 0.0f;
-			y_est[1] = 0.0f;
-
 		} else {
 			if (alt_disp2 < land_disp2 && thrust < params.land_thr) {
 				if (landed_time == 0) {