diff --git a/msg/mission_result.msg b/msg/mission_result.msg
index c1ad449a23..26dfbcecb1 100644
--- a/msg/mission_result.msg
+++ b/msg/mission_result.msg
@@ -14,9 +14,6 @@ bool warning			# true if mission is valid, but has potentially problematic items
 bool finished			# true if mission has been completed
 bool failure			# true if the mission cannot continue or be completed for some reason
 
-bool stay_in_failsafe		# true if the commander should not switch out of the failsafe mode
-bool flight_termination		# true if the navigator demands a flight termination from the commander app
-
 bool item_do_jump_changed	# true if the number of do jumps remaining has changed
 uint16 item_changed_index	# indicate which item has changed
 uint16 item_do_jump_remaining	# set to the number of do jumps remaining for that item
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 50490454c6..add9053f85 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1904,29 +1904,6 @@ void Commander::checkForMissionUpdate()
 				_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
 			}
 		}
-
-		// Check for mission flight termination
-		if (_arm_state_machine.isArmed() && mission_result.flight_termination &&
-		    !_circuit_breaker_flight_termination_disabled) {
-
-			if (!_flight_termination_triggered && !_lockdown_triggered) {
-				// navigator only requests flight termination on GPS failure
-				mavlink_log_critical(&_mavlink_log_pub, "GPS failure: Flight terminated\t");
-				events::send(events::ID("commander_mission_termination"), {events::Log::Alert, events::LogInternal::Warning},
-					     "GPS failure: Flight terminated");
-				_flight_termination_triggered = true;
-				_actuator_armed.force_failsafe = true;
-				_status_changed = true;
-				send_parachute_command();
-			}
-
-			if (hrt_elapsed_time(&_last_termination_message_sent) > 4_s) {
-				_last_termination_message_sent = hrt_absolute_time();
-				mavlink_log_critical(&_mavlink_log_pub, "Flight termination active\t");
-				events::send(events::ID("commander_mission_termination_active"), {events::Log::Alert, events::LogInternal::Warning},
-					     "Flight termination active");
-			}
-		}
 	}
 }
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index b271ae12c7..06c6550bd1 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -231,7 +231,6 @@ private:
 
 	ArmStateMachine _arm_state_machine{};
 
-	bool         _circuit_breaker_flight_termination_disabled{false};
 	FailureDetector	_failure_detector{this};
 	bool		_flight_termination_triggered{false};
 	bool		_lockdown_triggered{false};
diff --git a/src/modules/navigator/navigator_mode.cpp b/src/modules/navigator/navigator_mode.cpp
index 6a22426075..5adb0b1bdb 100644
--- a/src/modules/navigator/navigator_mode.cpp
+++ b/src/modules/navigator/navigator_mode.cpp
@@ -55,8 +55,6 @@ NavigatorMode::run(bool active)
 {
 	if (active) {
 		if (!_active) {
-			/* first run, reset stay in failsafe flag */
-			_navigator->get_mission_result()->stay_in_failsafe = false;
 			_navigator->set_mission_result_updated();
 			on_activation();