diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
index 6d86cdc8be..a63d136e7f 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
@@ -106,7 +106,6 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 	if (!_is_position_on_circle()) {
 		_in_circle_approach = true;
 		_position_smoothing.reset({0.f, 0.f, 0.f}, _velocity, _position);
-		_circle_approach_start_position = _position;
 	}
 
 	return ret;
@@ -169,7 +168,6 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set
 	      && PX4_ISFINITE(_velocity(2));
 
 	_position_smoothing.reset({0.f, 0.f, 0.f}, _velocity, _position);
-	_circle_approach_start_position = _position;
 
 	return ret;
 }
@@ -193,13 +191,6 @@ bool FlightTaskOrbit::update()
 			_in_circle_approach = false;
 			_altitude_velocity_smoothing.reset(0, _velocity(2), _position(2));
 		}
-
-	} else {
-		if (!_in_circle_approach) {
-			_in_circle_approach = true;
-			_position_smoothing.reset({0.f, 0.f, 0.f}, _velocity, _position);
-			_circle_approach_start_position = _position;
-		}
 	}
 
 	if (_in_circle_approach) {
diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
index 96fa315913..54dcc640c4 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
@@ -118,7 +118,6 @@ private:
 	matrix::Vector3f _center; /**< local frame coordinates of the center point */
 
 	bool _in_circle_approach = false;
-	Vector3f _circle_approach_start_position;
 	PositionSmoothing _position_smoothing;
 	VelocitySmoothing _altitude_velocity_smoothing;
 	Vector3f _unsmoothed_velocity_setpoint;