diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 6565d4248c..756311b4ae 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -192,14 +192,6 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
 
 	attitude_setpoint.timestamp = hrt_absolute_time();
 	_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
-
-	// update attitude controller setpoint immediately (don't do it in vtol transition, then the VTOL module generates the attitude setpoint)
-	if (!_vtol_in_transition_mode) {
-		_attitude_control.setAttitudeSetpoint(q_sp, attitude_setpoint.yaw_sp_move_rate);
-		_thrust_setpoint_body = Vector3f(attitude_setpoint.thrust_body);
-	}
-
-	_last_attitude_setpoint = attitude_setpoint.timestamp;
 }
 
 void