diff --git a/msg/vehicle_command.msg b/msg/vehicle_command.msg
index a535f02d49..236b56c838 100644
--- a/msg/vehicle_command.msg
+++ b/msg/vehicle_command.msg
@@ -56,7 +56,6 @@ uint32 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3		# param value for VEHI
 uint32 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242	# Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
 uint32 VEHICLE_CMD_PREFLIGHT_STORAGE = 245		# Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
 uint32 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246	# Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
-uint32 VEHICLE_CMD_OVERRIDE_GOTO = 252			# Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|
 uint32 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|
 uint32 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400		# Arms / Disarms a component |1 to arm, 0 to disarm|
 uint32 VEHICLE_CMD_START_RX_PAIR = 500			# Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 45f9e6a4da..29bf2860b4 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -945,38 +945,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 		}
 		break;
 
-	case vehicle_command_s::VEHICLE_CMD_OVERRIDE_GOTO: {
-			// TODO listen vehicle_command topic directly from navigator (?)
-
-			// Increase by 0.5f and rely on the integer cast
-			// implicit floor(). This is the *safest* way to
-			// convert from floats representing small ints to actual ints.
-			unsigned int mav_goto = (cmd->param1 + 0.5f);
-
-			if (mav_goto == 0) {	// MAV_GOTO_DO_HOLD
-				status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
-				mavlink_log_critical(&mavlink_log_pub, "Pause mission cmd");
-				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
-
-			} else if (mav_goto == 1) {	// MAV_GOTO_DO_CONTINUE
-				status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
-				mavlink_log_critical(&mavlink_log_pub, "Continue mission cmd");
-				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
-
-			} else {
-				mavlink_log_critical(&mavlink_log_pub, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
-						     (double)cmd->param1,
-						     (double)cmd->param2,
-						     (double)cmd->param3,
-						     (double)cmd->param4,
-						     (double)cmd->param5,
-						     (double)cmd->param6,
-						     (double)cmd->param7);
-			}
-		}
-		break;
-
-		/* Flight termination */
 	case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
 			if (cmd->param1 > 1.5f) {
 				armed_local->lockdown = true;