diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 3facf8f049..0478e13168 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -48,7 +48,6 @@
  */
 #include "vtol_att_control_main.h"
 #include <systemlib/mavlink_log.h>
-#include <matrix/matrix/math.hpp>
 #include <uORB/PublicationQueued.hpp>
 
 using namespace matrix;
@@ -393,9 +392,7 @@ VtolAttitudeControl::Run()
 
 				// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
 				if (!_v_control_mode.flag_armed) {
-					Quatf().copyTo(_mc_virtual_att_sp.q_d);
 					Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
-					Quatf().copyTo(_v_att_sp.q_d);
 					Vector3f().copyTo(_v_att_sp.thrust_body);
 				}
 
@@ -414,9 +411,7 @@ VtolAttitudeControl::Run()
 			if (mc_att_sp_updated) {
 				// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
 				if (!_v_control_mode.flag_armed) {
-					Quatf().copyTo(_mc_virtual_att_sp.q_d);
 					Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
-					Quatf().copyTo(_v_att_sp.q_d);
 					Vector3f().copyTo(_v_att_sp.thrust_body);
 				}
 			}