diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 0146373c3e..f96a18d479 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -985,12 +985,6 @@ FixedwingAttitudeControl::task_main()
 				float gspd_scaling_trim = (_parameters.airspeed_min * 0.6f);
 				float groundspeed_scaler = gspd_scaling_trim / ((groundspeed < gspd_scaling_trim) ? gspd_scaling_trim : groundspeed);
 
-				float roll_sp = _parameters.rollsp_offset_rad;
-				float pitch_sp = _parameters.pitchsp_offset_rad;
-				float yaw_sp = 0.0f;
-				float yaw_manual = 0.0f;
-				float throttle_sp = 0.0f;
-
 				// in STABILIZED mode we need to generate the attitude setpoint
 				// from manual user inputs
 				if (!_vcontrol_mode.flag_control_climb_rate_enabled && !_vcontrol_mode.flag_control_offboard_enabled) {
@@ -1009,10 +1003,11 @@ FixedwingAttitudeControl::task_main()
 					orb_publish_auto(_attitude_setpoint_id, &_attitude_sp_pub, &_att_sp, &instance, ORB_PRIO_DEFAULT);
 				}
 
-				roll_sp = _att_sp.roll_body;
-				pitch_sp = _att_sp.pitch_body;
-				yaw_sp = _att_sp.yaw_body;
-				throttle_sp = _att_sp.thrust;
+				float roll_sp = _att_sp.roll_body;
+				float pitch_sp = _att_sp.pitch_body;
+				float yaw_sp = _att_sp.yaw_body;
+				float throttle_sp = _att_sp.thrust;
+				float yaw_manual = 0.0f;
 
 				/* allow manual yaw in manual modes */
 				if (_vcontrol_mode.flag_control_manual_enabled) {