diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h
index ff31a84acc..d65be322f7 100644
--- a/src/modules/fw_att_pos_estimator/estimator.h
+++ b/src/modules/fw_att_pos_estimator/estimator.h
@@ -3,7 +3,7 @@
 
 #pragma once
 
-#define GRAVITY_MSS 9.76f//9.80665f
+#define GRAVITY_MSS 9.80665f
 #define deg2rad 0.017453292f
 #define rad2deg 57.295780f
 #define pi 3.141592657f
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 95549ad219..38162959d3 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -735,7 +735,6 @@ FixedwingEstimator::task_main()
 				StoreStates(IMUmsec);
 				// Check if on ground - status is used by covariance prediction
 				OnGroundCheck();
-				onGround = false;
 				// sum delta angles and time used by covariance prediction
 				summedDelAng = summedDelAng + correctedDelAng;
 				summedDelVel = summedDelVel + dVelIMU;