diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index c3950aed4f..a7e43a64e3 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -390,15 +390,8 @@ ControlAllocator::Run()
 
 	}
 
-	// Also run allocator on thrust setpoint changes if the torque setpoint
-	// has not been updated for more than 5ms
 	if (_vehicle_thrust_setpoint_sub.update(&vehicle_thrust_setpoint)) {
 		_thrust_sp = matrix::Vector3f(vehicle_thrust_setpoint.xyz);
-
-		if (dt > 0.005f) {
-			do_update = true;
-			_timestamp_sample = vehicle_thrust_setpoint.timestamp_sample;
-		}
 	}
 
 	if (do_update) {