diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
index 201c208efd..40b2cc01e3 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
@@ -131,7 +131,6 @@ bool FlightTaskAuto::_evaluateTriplets()
 	if (!PX4_ISFINITE(_yaw_wp)) {
 		_yaw_wp = _yaw;
 
-	} else {
 	}
 
 	_mc_cruise_speed = _sub_triplet_setpoint->get().current.cruising_speed;
diff --git a/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp b/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
index 8bd5f27ff2..ec9322c6bc 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
@@ -339,7 +339,6 @@ void FlightTaskAutoLine::_generateXYsetpoints()
 
 			if (PX4_ISFINITE(_yaw_wp)) {
 				yaw_diff = _wrap_pi(_yaw_wp - _yaw);
-				PX4_WARN("Yaw Waypoint not finite");
 			}
 
 			/* If yaw offset is large, only accelerate with 0.5 m/s^2. */