diff --git a/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp b/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
index 550a4d465b..ec38e85d2d 100644
--- a/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
+++ b/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
@@ -101,16 +101,8 @@ void FlightTaskManualPosition::_scaleSticks()
 		// Allow for a minimum of 0.3 m/s for repositioning
 		_velocity_scale = fmaxf(_velocity_scale, 0.3f);
 
-	} else if (stick_xy.length() > 0.5f) {
-		// raise the limit at a constant rate up to the user specified value
-
-		if (_velocity_scale < _constraints.speed_xy) {
-			_velocity_scale += _deltatime * _param_mpc_acc_hor_estm.get();
-
-		} else {
-			_velocity_scale = _constraints.speed_xy;
-
-		}
+	} else {
+		_velocity_scale = _constraints.speed_xy;
 	}
 
 	_velocity_scale = fminf(_computeVelXYGroundDist(), _velocity_scale);
diff --git a/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp b/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
index 9ac3164687..ab01968057 100644
--- a/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
+++ b/src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
@@ -67,8 +67,7 @@ protected:
 					(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
 					(ParamFloat<px4::params::MPC_LAND_VEL_XY>) _param_mpc_land_vel_xy,
 					(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
-					(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
-					(ParamFloat<px4::params::MPC_ACC_HOR_ESTM>) _param_mpc_acc_hor_estm
+					(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy
 				       )
 private:
 	float _computeVelXYGroundDist();
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 642cb98e85..25fa314289 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -505,21 +505,6 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
  */
 PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f);
 
-/**
- * Horizontal acceleration in manual modes when te estimator speed limit is removed.
- * If full stick is being applied and the estimator stops demanding a speed limit,
- * which it had been before (e.g if GPS is gained while flying on optical flow/vision only),
- * the vehicle will accelerate at this rate until the normal position control speed is achieved.
- *
- * @unit m/s/s
- * @min 0.2
- * @max 2.0
- * @increment 0.1
- * @decimal 1
- * @group Multicopter Position Control
- */
-PARAM_DEFINE_FLOAT(MPC_ACC_HOR_ESTM, 0.5f);
-
 /**
  * Maximum vertical acceleration in velocity controlled modes upward
  *