diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
index 219868f64b..a1ea2b6b80 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
@@ -61,9 +61,6 @@ bool FlightTaskManualAcceleration::update()
 {
 	bool ret = FlightTaskManualAltitudeSmoothVel::update();
 
-	_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, _is_yaw_good_for_control,
-				       _deltatime);
-
 	_stick_acceleration_xy.generateSetpoints(_sticks.getPitchRollExpo(), _yaw, _yaw_setpoint, _position,
 			_velocity_setpoint_feedback.xy(), _deltatime);
 	_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);
diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
index d88f2d0bd6..a73d60e7fc 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
@@ -58,7 +58,5 @@ private:
 	void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
 
 	StickAccelerationXY _stick_acceleration_xy{this};
-	StickYaw _stick_yaw{this};
-
 	WeatherVane _weathervane{this}; /**< weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
 };