diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg
index 93c57fd5d2..dcaf1e11a9 100644
--- a/msg/position_setpoint.msg
+++ b/msg/position_setpoint.msg
@@ -8,7 +8,6 @@ uint8 SETPOINT_TYPE_LOITER=2	# loiter setpoint
 uint8 SETPOINT_TYPE_TAKEOFF=3	# takeoff setpoint
 uint8 SETPOINT_TYPE_LAND=4	# land setpoint, altitude must be ignored, descend until landing
 uint8 SETPOINT_TYPE_IDLE=5	# do nothing, switch off motors or keep at idle speed (MC)
-uint8 SETPOINT_TYPE_FOLLOW_TARGET=6  # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target
 
 uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
 uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index ec7da58067..56f07655c8 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -480,12 +480,6 @@ bool FlightTaskAuto::_evaluateTriplets()
 			_yawspeed_setpoint = _weathervane.getWeathervaneYawrate();
 		}
 
-
-
-	} else if (_type == WaypointType::follow_target && _sub_triplet_setpoint.get().current.yawspeed_valid) {
-		_yawspeed_setpoint = _sub_triplet_setpoint.get().current.yawspeed;
-		_yaw_setpoint = NAN;
-
 	} else {
 		if (!_is_yaw_good_for_control) {
 			_yaw_lock = false;
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index f4a0867798..1479c5b931 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -71,8 +71,7 @@ enum class WaypointType : int {
 	loiter = position_setpoint_s::SETPOINT_TYPE_LOITER,
 	takeoff = position_setpoint_s::SETPOINT_TYPE_TAKEOFF,
 	land = position_setpoint_s::SETPOINT_TYPE_LAND,
-	idle = position_setpoint_s::SETPOINT_TYPE_IDLE,
-	follow_target = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET,
+	idle = position_setpoint_s::SETPOINT_TYPE_IDLE
 };
 
 enum class State {