diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index ab43a28b42..0a09c390f0 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -146,11 +146,8 @@ bool FlightTaskAuto::update()
 		_velocity_setpoint(2) = NAN;
 		break;
 
-	case WaypointType::takeoff:
-		// Takeoff is completely defined by target position
-		_gear.landing_gear = landing_gear_s::GEAR_DOWN;
-
 	// FALLTHROUGH
+	case WaypointType::takeoff:
 	case WaypointType::loiter:
 	case WaypointType::position:
 	default: