diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index b09ba6852c..abfc8aabe8 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -108,23 +108,8 @@ void PositionControl::generateThrustYawSetpoint(const float &dt)
 	 */
 	if (!_skipController) {
 		_positionController();
-
-		if (_smooth_takeoff) {
-			_setTakeoffVelocity(dt);
-
-		}  else {
-			_takeoff_vel_sp = 0.5f; // Reset to pointing downwards.
-		}
-
 		_velocityController(dt);
 
-	} else {
-		if (_smooth_takeoff) {
-			_setTakeoffThrust(dt);
-
-		} else {
-			_takeoff_vel_sp = 0.5f; // Reset to pointing downwards.
-		}
 	}
 }
 
@@ -135,13 +120,6 @@ void PositionControl::_interfaceMapping()
 	 * do not require control.
 	 */
 
-	if (PX4_ISFINITE(_pos_sp(2)) && _smooth_takeoff) {
-		_takeoff_max_speed = 0.6f;
-
-	} else {
-		_takeoff_max_speed = _VelMaxZ[0];
-	}
-
 	/* Loop through x,y and z components of all setpoints. */
 	for (int i = 0; i <= 2; i++) {
 
@@ -314,7 +292,6 @@ void PositionControl::_velocityController(const float &dt)
 
 		}
 	}
-
 }
 
 void PositionControl::updateConstraints(const Controller::Constraints &constraints)
@@ -334,33 +311,6 @@ void PositionControl::_updateParams()
 	}
 }
 
-void PositionControl::_setTakeoffVelocity(const float dt)
-{
-
-	/* Limit velocity setpoint to maximum takeoff velocity */
-	_vel_sp(2) = math::max(_vel_sp(2), -_takeoff_max_speed);
-	/* Smooth takeoff is achieved once target velocity is reached. (NED frame). */
-	_smooth_takeoff = _takeoff_vel_sp >= _vel_sp(2);
-	/* ramp vertical velocity limit up to takeoff speed */
-	_takeoff_vel_sp += _vel_sp(2) * dt / _TakeoffRampTime;
-	/* limit vertical velocity to the current ramp value */
-	_vel_sp(2) = math::max(_vel_sp(2), _takeoff_vel_sp);
-
-}
-
-void PositionControl::_setTakeoffThrust(const float dt)
-{
-
-	/* Smooth takeoff is achieved once target velocity is reached. (NED frame). */
-	_smooth_takeoff = _takeoff_vel_sp >= _thr_sp(2);
-	/* ramp vertical velocity limit up to takeoff speed */
-	_takeoff_vel_sp += _thr_sp(2) * dt / _TakeoffRampTime;
-	/* limit vertical velocity to the current ramp value */
-	_thr_sp(2) = math::max(_thr_sp(2), _takeoff_vel_sp);
-
-
-}
-
 void PositionControl::_setParams()
 {
 	param_get(_Pxy_h, &Pp(0));
diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index dea1c8af62..d262106bfc 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -64,8 +64,7 @@ public:
 
 	~PositionControl() {};
 
-	void updateState(const vehicle_local_position_s &state, const matrix::Vector3f &vel_dot,
-			 const bool smooth_takeoff);
+	void updateState(const vehicle_local_position_s &state, const matrix::Vector3f &vel_dot);
 	void updateSetpoint(const vehicle_local_position_setpoint_s &setpoint);
 	void updateConstraints(const Controller::Constraints &constraints);
 	void generateThrustYawSetpoint(const float &dt);
@@ -75,7 +74,6 @@ public:
 	float getYawspeedSetpoint() {return _yawspeed_sp;}
 	matrix::Vector3f getVelSp() {return _vel_sp;}
 	matrix::Vector3f getPosSp() {return _pos_sp;}
-	bool getSmoothTakeoff() {return _smooth_takeoff;};
 
 private:
 
@@ -93,9 +91,6 @@ private:
 	matrix::Vector3f _thr_sp{};
 	float _yaw_sp{};
 	float _yawspeed_sp{};
-	float _takeoff_vel_sp = 0.5f; // starts positive (NED frame)
-	float _takeoff_max_speed = 1.0f;
-	bool _smooth_takeoff{false};
 
 	/* Other variables */
 	matrix::Vector3f _thr_int{};