diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 01ec7de7e2..4eda2f7722 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -417,32 +417,6 @@ MissionBlock::set_loiter_item(struct mission_item_s *item, float min_clearance)
 	}
 }
 
-void
-MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
-{
-	item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
-
-	/* use current position and use return altitude as clearance */
-	item->lat = _navigator->get_global_position()->lat;
-	item->lon = _navigator->get_global_position()->lon;
-	item->altitude = _navigator->get_global_position()->alt;
-
-	if (min_clearance > 0.0f) {
-		item->altitude += min_clearance;
-	}
-
-	item->altitude_is_relative = false;
-	item->yaw = NAN;
-	item->loiter_radius = _navigator->get_loiter_radius();
-	item->loiter_direction = 1;
-	item->acceptance_radius = (_navigator->get_acceptance_radius() > min_clearance / 2.0f) ?
-					(min_clearance / 2) : _navigator->get_acceptance_radius();
-	item->time_inside = 0.0f;
-	item->pitch_min = min_pitch;
-	item->autocontinue = false;
-	item->origin = ORIGIN_ONBOARD;
-}
-
 void
 MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance, float min_pitch)
 {