diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index eafe1cd017..ab8ab68744 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -17,7 +17,6 @@ param set-default COM_POS_FS_DELAY 5
 
 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
-param set-default COM_POS_FS_EPV 30
 param set-default COM_VEL_FS_EVH 5
 
 param set-default COM_POS_LOW_EPH 50
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
index 8b6fc5156c..9c524ffc7f 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -297,8 +297,8 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 					mavlink_log_info(reporter.mavlink_log_pub(), "GNSS data fusion started\t");
 				}
 
-				events::send(events::ID("check_estimator_gnss_fusion_stated"), {events::Log::Info, events::LogInternal::Info},
-					     "GNSS data fusion stated");
+				events::send(events::ID("check_estimator_gnss_fusion_started"), {events::Log::Info, events::LogInternal::Info},
+					     "GNSS data fusion started");
 			}
 		}
 
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
index 44520da00e..4dd45cd70e 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
@@ -114,7 +114,6 @@ private:
 					(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
 					(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
 					(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
-					(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv,
 					(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
 					(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay,
 					(ParamFloat<px4::params::COM_POS_LOW_EPH>) _param_com_low_eph
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 5d17953644..784a953f2d 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -726,21 +726,6 @@ PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1);
  */
 PARAM_DEFINE_FLOAT(COM_POS_FS_EPH, 5.f);
 
-/**
- * Vertical position error threshold.
- *
- * This is the vertical position error (EPV) threshold that will trigger a failsafe.
- * The default is appropriate for a multicopter. Can be increased for a fixed-wing.
- * If the previous position error was below this threshold, there is an additional
- * factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
- *
- * @unit m
- * @min 0
- * @decimal 1
- * @group Commander
- */
-PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10.f);
-
 /**
  * Horizontal velocity error threshold.
  *