diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 0427bfa41a..0ea7333174 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -662,18 +662,6 @@ Navigator::run()
 			_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
 		}
 
-		/* if we landed and have not received takeoff setpoint then stay in idle */
-		if (_land_detected.landed &&
-		    !((_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF)
-		      || (_vstatus.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION))) {
-
-			reset_triplets();
-
-			_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
-			_pos_sp_triplet.current.valid = true;
-			_pos_sp_triplet.current.timestamp = hrt_absolute_time();
-		}
-
 		/* if nothing is running, set position setpoint triplet invalid once */
 		if (_navigation_mode == nullptr && !_pos_sp_triplet_published_invalid_once) {
 			_pos_sp_triplet_published_invalid_once = true;