diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index 89ad10691b20f0017d61a29df975dc1b8cb3f13b..781fc9e189ef50bc628aebb56a23c4d9c4c8ac39 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -87,7 +87,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
 	_vel_sp = Data(&setpoint.vx);
 	_acc_sp = Data(&setpoint.acc_x);
 	_thr_sp = Data(setpoint.thrust);
-	_yaw_sp = setpoint.yaw; //integrate
+	_yaw_sp = setpoint.yaw;
 	_yawspeed_sp = setpoint.yawspeed;
 	_interfaceMapping();
 
diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index c2c3ae6c8e5df0e6770cf66092bbddf80d75be70..207b988d91dd6166081a76e6275805e923c6c963 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -112,8 +112,6 @@ private:
 	param_t _ThrHover_h{PARAM_INVALID};
 	param_t _ThrMax_h{PARAM_INVALID};
 	param_t _ThrMin_h{PARAM_INVALID};
-	param_t _YawRateMax_h{PARAM_INVALID};
-	param_t _Pyaw_h{PARAM_INVALID}; //only temporary: this will be moved into attitude controller
 
 	/* Parameters */
 	matrix::Vector3f Pp, Pv, Iv, Dv = matrix::Vector3f{0.0f, 0.0f, 0.0f};