diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index d42b96b4c2..45b1305667 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -299,10 +299,6 @@ transition_result_t set_main_state_rc(struct vehicle_status_s *status, vehicle_g
 
 void reset_posvel_validity(vehicle_global_position_s *global_position, vehicle_local_position_s *local_position, bool *changed);
 
-void check_global_posvel_validity(vehicle_global_position_s *global_position, bool *changed);
-
-void check_local_posvel_validity(vehicle_local_position_s *local_position, bool *changed);
-
 void check_posvel_validity(bool data_valid, float data_accuracy, float required_accuracy, uint64_t data_timestamp_us, hrt_abstime *last_fail_time_us, int64_t *probation_time_us, bool *valid_state, bool *validity_changed);
 
 void set_control_mode();
@@ -3779,202 +3775,6 @@ reset_posvel_validity(vehicle_global_position_s *global_position, vehicle_local_
 	check_posvel_validity(local_position->v_xy_valid, local_position->evh, evh_threshold, local_position->timestamp, &last_lvel_fail_time_us, &lvel_probation_time_us, &status_flags.condition_local_velocity_valid, changed);
 }
 
-void
-check_global_posvel_validity(vehicle_global_position_s *global_position, bool *changed)
-{
-	bool global_pos_inaccurate = false;
-	bool global_vel_inaccurate = false;
-	hrt_abstime now = hrt_absolute_time();
-
-	// Check position accuracy with hysteresis in both test level and time
-	bool pos_status_changed = false;
-	if (status_flags.condition_global_position_valid && global_position->eph > eph_threshold * 2.5f) {
-		global_pos_inaccurate = true;
-		pos_status_changed = true;
-		last_gpos_fail_time_us = now;
-	} else if (!status_flags.condition_global_position_valid) {
-		bool level_check_pass = global_position->eph < eph_threshold;
-		if (!level_check_pass) {
-			gpos_probation_time_us += (now - last_gpos_fail_time_us) * POSVEL_VALID_PROBATION_FACTOR;
-			last_gpos_fail_time_us = now;
-		} else if (now - last_gpos_fail_time_us > gpos_probation_time_us) {
-			global_pos_inaccurate = false;
-			pos_status_changed = true;
-			last_gpos_fail_time_us = 0;
-		}
-	} else {
-		gpos_probation_time_us -= (now - last_gpos_fail_time_us);
-		last_gpos_fail_time_us = now;
-	}
-
-	// check global velocity accuracy with hysteresis in both test level and time
-	bool vel_status_changed = false;
-	if (status_flags.condition_global_velocity_valid && global_position->evh > evh_threshold * 2.5f) {
-		global_vel_inaccurate = true;
-		vel_status_changed = true;
-		last_gvel_fail_time_us = now;
-	} else if (!status_flags.condition_global_velocity_valid) {
-		bool check_level_pass = global_position->evh < evh_threshold;
-		if (!check_level_pass) {
-			gvel_probation_time_us += (now - last_gvel_fail_time_us) * POSVEL_VALID_PROBATION_FACTOR;
-			last_gvel_fail_time_us = now;
-		} else if (now - last_gvel_fail_time_us > gvel_probation_time_us) {
-			global_vel_inaccurate = false;
-			vel_status_changed = true;
-			last_gvel_fail_time_us = 0;
-		}
-	} else {
-		gvel_probation_time_us -= (now - last_gvel_fail_time_us);
-		last_gvel_fail_time_us = now;
-	}
-
-	bool global_data_stale = (now - global_position->timestamp > POSITION_TIMEOUT);
-
-	// Set global velocity validity
-	if (vel_status_changed) {
-		if (status_flags.condition_global_velocity_valid
-			   && (global_data_stale || global_vel_inaccurate)) {
-			status_flags.condition_global_velocity_valid = false;
-			*changed = true;
-		} else if (!status_flags.condition_global_velocity_valid
-			   && !global_data_stale
-			   && !global_vel_inaccurate) {
-			status_flags.condition_global_velocity_valid = true;
-			*changed = true;
-		}
-	}
-
-	// Set global position validity
-	if (pos_status_changed) {
-		if (status_flags.condition_global_position_valid
-			   && (global_data_stale || global_pos_inaccurate)) {
-			status_flags.condition_global_position_valid = false;
-			set_tune_override(TONE_GPS_WARNING_TUNE);
-			*changed = true;
-		} else if (!status_flags.condition_global_position_valid
-			   && !global_data_stale
-			   && !global_pos_inaccurate) {
-			status_flags.condition_global_position_valid = true;
-			*changed = true;
-		}
-	}
-
-	// constrain probation times
-	if (land_detector.landed) {
-		gpos_probation_time_us = POSVEL_PROBATION_MIN;
-		gvel_probation_time_us = POSVEL_PROBATION_MIN;
-	} else {
-		if (gpos_probation_time_us < POSVEL_PROBATION_MIN) {
-			gpos_probation_time_us = POSVEL_PROBATION_MIN;
-		} else if  (gpos_probation_time_us > POSVEL_PROBATION_MAX) {
-			gpos_probation_time_us = POSVEL_PROBATION_MAX;
-		}
-		if (gvel_probation_time_us < POSVEL_PROBATION_MIN) {
-			gvel_probation_time_us = POSVEL_PROBATION_MIN;
-		} else if  (gvel_probation_time_us > POSVEL_PROBATION_MAX) {
-			gvel_probation_time_us = POSVEL_PROBATION_MAX;
-		}
-	}
-}
-
-void
-check_local_posvel_validity(struct vehicle_local_position_s *local_position, bool *changed)
-{
-	bool local_pos_inaccurate = false;
-	bool local_vel_inaccurate = false;
-	hrt_abstime now = hrt_absolute_time();
-
-	// Check local position accuracy with hysteresis in both test level and time
-	bool pos_status_changed = false;
-	if (status_flags.condition_local_position_valid && local_position->eph > eph_threshold * 2.5f) {
-		local_pos_inaccurate = true;
-		pos_status_changed = true;
-		last_lpos_fail_time_us = now;
-	} else if (!status_flags.condition_local_position_valid) {
-		bool level_check_pass = local_position->xy_valid && local_position->eph < eph_threshold;
-		if (!level_check_pass) {
-			lpos_probation_time_us += (now - last_lpos_fail_time_us) * POSVEL_VALID_PROBATION_FACTOR;
-			last_lpos_fail_time_us = now;
-		} else if (now - last_lpos_fail_time_us > lpos_probation_time_us) {
-			local_pos_inaccurate = false;
-			pos_status_changed = true;
-			last_lpos_fail_time_us = 0;
-		}
-	} else {
-		lpos_probation_time_us -= (now - last_lpos_fail_time_us);
-		last_lpos_fail_time_us = now;
-	}
-
-	// Check local velocity accuracy with hysteresis
-	bool vel_status_changed = false;
-	if (status_flags.condition_local_velocity_valid && local_position->evh > evh_threshold * 2.5f) {
-		local_vel_inaccurate = true;
-		vel_status_changed = true;
-		last_lvel_fail_time_us =  now;
-	} else if (!status_flags.condition_local_velocity_valid) {
-		bool level_check_pass = local_position->v_xy_valid && local_position->evh < evh_threshold;
-		if (!level_check_pass) {
-			lvel_probation_time_us += (now - last_lvel_fail_time_us) * POSVEL_VALID_PROBATION_FACTOR;
-			last_lvel_fail_time_us =  now;
-		} else if (now - last_lvel_fail_time_us > lvel_probation_time_us) {
-			local_vel_inaccurate = false;
-			vel_status_changed = true;
-			last_lvel_fail_time_us = 0;
-		}
-	} else {
-		lvel_probation_time_us -= (now - last_lvel_fail_time_us);
-		last_lvel_fail_time_us =  now;
-	}
-
-	bool local_data_stale = (now - local_position->timestamp > POSITION_TIMEOUT);
-
-	// Set local velocity validity
-	if (vel_status_changed) {
-		if (status_flags.condition_local_velocity_valid
-			   && (local_data_stale || local_vel_inaccurate)) {
-			status_flags.condition_local_velocity_valid = false;
-			*changed = true;
-		} else if (!status_flags.condition_local_velocity_valid
-			   && !local_data_stale
-			   && !local_vel_inaccurate) {
-			status_flags.condition_local_velocity_valid = true;
-			*changed = true;
-		}
-	}
-
-	// Set local position validity
-	if (pos_status_changed) {
-		if (status_flags.condition_local_position_valid
-			   && (local_data_stale || !local_position->xy_valid || local_pos_inaccurate)) {
-			status_flags.condition_local_position_valid = false;
-			*changed = true;
-		} else if (!status_flags.condition_local_position_valid
-			   && !local_data_stale
-			   && !local_pos_inaccurate
-			   && local_position->xy_valid) {
-			status_flags.condition_local_position_valid = true;
-			*changed = true;
-		}
-	}
-
-	// constrain probation times
-	if (land_detector.landed) {
-		lpos_probation_time_us = POSVEL_PROBATION_MIN;
-		lvel_probation_time_us = POSVEL_PROBATION_MIN;
-	} else {
-		if (lpos_probation_time_us < POSVEL_PROBATION_MIN) {
-			lpos_probation_time_us = POSVEL_PROBATION_MIN;
-		} else if  (lpos_probation_time_us > POSVEL_PROBATION_MAX) {
-			lpos_probation_time_us = POSVEL_PROBATION_MAX;
-		}
-		if (lvel_probation_time_us < POSVEL_PROBATION_MIN) {
-			lvel_probation_time_us = POSVEL_PROBATION_MIN;
-		} else if  (lvel_probation_time_us > POSVEL_PROBATION_MAX) {
-			lvel_probation_time_us = POSVEL_PROBATION_MAX;
-		}
-	}
-}
-
 void
 check_posvel_validity(bool data_valid, float data_accuracy, float required_accuracy, uint64_t data_timestamp_us, hrt_abstime *last_fail_time_us, int64_t *probation_time_us, bool *valid_state, bool *validity_changed)
 {