diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg
index 9e0864a9ad..b52f03a922 100644
--- a/msg/position_setpoint.msg
+++ b/msg/position_setpoint.msg
@@ -16,7 +16,6 @@ float32 vx			# local velocity setpoint in m/s in NED
 float32 vy			# local velocity setpoint in m/s in NED
 float32 vz			# local velocity setpoint in m/s in NED
 bool velocity_valid		# true if local velocity setpoint valid
-bool alt_valid		# do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.
 
 float64 lat			# latitude, in deg
 float64 lon			# longitude, in deg
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 768216596a..0f22467c53 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -1883,7 +1883,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
 		(fabsf(p1->vy - p2->vy) < FLT_EPSILON) &&
 		(fabsf(p1->vz - p2->vz) < FLT_EPSILON) &&
 		(p1->velocity_valid == p2->velocity_valid) &&
-		(p1->alt_valid == p2->alt_valid) &&
 		(fabs(p1->lat - p2->lat) < DBL_EPSILON) &&
 		(fabs(p1->lon - p2->lon) < DBL_EPSILON) &&
 		(fabsf(p1->alt - p2->alt) < FLT_EPSILON) &&
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 2d2cadf77e..775428a740 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -921,7 +921,6 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data)
 					rep->current.alt = loiter_altitude_amsl;
 					rep->current.valid = true;
 					rep->current.loiter_radius = get_loiter_radius();
-					rep->current.alt_valid = true;
 					rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
 					rep->current.cruising_throttle = get_cruising_throttle();
 					rep->current.acceptance_radius = get_acceptance_radius();