diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index bddbaa776b..720d9bb14e 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -753,7 +753,6 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
 			} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
 				// LOITER: use SETPOINT_TYPE_POSITION to get to SETPOINT_TYPE_LOITER
 				if ((dist >= 0.f)
-				    && (dist_z > 2.f * _param_fw_clmbout_diff.get())
 				    && (dist_xy > 2.f * math::max(acc_rad, fabsf(pos_sp_curr.loiter_radius)))) {
 					// SETPOINT_TYPE_LOITER -> SETPOINT_TYPE_POSITION
 					position_sp_type = position_setpoint_s::SETPOINT_TYPE_POSITION;