diff --git a/EKF/common.h b/EKF/common.h
index 9d102053bd..c6fba33e67 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -235,7 +235,6 @@ struct parameters {
 	float baro_innov_gate{5.0f};		///< barometric and GPS height innovation consistency gate size (STD)
 	float posNE_innov_gate{5.0f};		///< GPS horizontal position innovation consistency gate size (STD)
 	float vel_innov_gate{5.0f};		///< GPS velocity innovation consistency gate size (STD)
-	float hgt_reset_lim{0.0f};		///< The maximum 1-sigma uncertainty in height that can be tolerated before the height state is reset (m)
 
 	// magnetometer fusion
 	float mag_heading_noise{3.0e-1f};	///< measurement noise used for simple heading fusion (rad)
diff --git a/EKF/control.cpp b/EKF/control.cpp
index 5185239f77..201e01aa59 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -581,7 +581,7 @@ void Ekf::controlHeightSensorTimeouts()
 	bool hgt_fusion_timeout = ((_time_last_imu - _time_last_hgt_fuse) > (uint64_t)5e6);
 
 	// reset the vertical position and velocity states
-	if ((P[9][9] > sq(_params.hgt_reset_lim)) && (hgt_fusion_timeout || continuous_bad_accel_hgt)) {
+	if (hgt_fusion_timeout || continuous_bad_accel_hgt) {
 		// boolean that indicates we will do a height reset
 		bool reset_height = false;