diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
index 0077736bb0..5d857100fa 100644
--- a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
@@ -349,23 +349,7 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 						* Vector3f(_mag_strength_gps, 0, 0);
 
 		// mag_B: reset
-#if defined(CONFIG_EKF2_GNSS)
-
-		if (isYawEmergencyEstimateAvailable()) {
-
-			const Dcmf R_to_earth = updateYawInRotMat(_yawEstimator.getYaw(), _R_to_earth);
-			const Dcmf R_to_body = R_to_earth.transpose();
-
-			// mag_B: reset using WMM and yaw estimator
-			_state.mag_B = mag - (R_to_body * mag_earth_pred);
-
-			ECL_INFO("resetMagStates using yaw estimator");
-
-		} else if (!reset_heading && _control_status.flags.yaw_align) {
-#else
-
 		if (!reset_heading && _control_status.flags.yaw_align) {
-#endif
 			// mag_B: reset using WMM
 			const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
 			_state.mag_B = mag - (R_to_body * mag_earth_pred);