diff --git a/src/modules/fw_mode_manager/FixedWingModeManager.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
index d33f72c4e4..893a205db6 100644
--- a/src/modules/fw_mode_manager/FixedWingModeManager.cpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
@@ -430,17 +430,6 @@ FixedWingModeManager::set_control_mode_current(const hrt_abstime &now)
 			_control_mode_current = FW_POSCTRL_MODE_AUTO;
 		}
 
-	} else if (_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled
-		   && (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_IDLE)) {
-
-		// A setpoint of type IDLE can be published by Navigator without a valid position, and is handled here in FW_POSCTRL_MODE_AUTO.
-		if (doing_backtransition) {
-			_control_mode_current = FW_POSCTRL_MODE_TRANSITION_TO_HOVER_HEADING_HOLD;
-
-		} else {
-			_control_mode_current = FW_POSCTRL_MODE_AUTO;
-		}
-
 	} else if (_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled
 		   && (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND)) {