diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index bf49e18..165f1ae 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -389,17 +389,6 @@ void PX4FirmwarePlugin::_mavCommandResult(int vehicleId, int component, int comm
     }
 }
 
-double PX4FirmwarePlugin::minimumTakeoffAltitude(Vehicle* vehicle)
-{
-    QString takeoffAltParam("MIS_TAKEOFF_ALT");
-
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
-        return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam)->rawValue().toDouble();
-    } else {
-        return FirmwarePlugin::minimumTakeoffAltitude(vehicle);
-    }
-}
-
 void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel)
 {
     double vehicleAltitudeAMSL = vehicle->altitudeAMSL()->rawValue().toDouble();
@@ -408,10 +397,7 @@ void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel
         return;
     }
 
-    double takeoffAltRelFromVehicle = minimumTakeoffAltitude(vehicle);
-    double takeoffAltAMSL = qMax(takeoffAltRel, takeoffAltRelFromVehicle) + vehicleAltitudeAMSL;
-
-    qDebug() << takeoffAltRel << takeoffAltRelFromVehicle << takeoffAltAMSL << vehicleAltitudeAMSL;
+    double takeoffAltAMSL = takeoffAltRel + vehicleAltitudeAMSL;
 
     connect(vehicle, &Vehicle::mavCommandResult, this, &PX4FirmwarePlugin::_mavCommandResult);
     vehicle->sendMavCommand(
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index 1fa2173..5b11ea2 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -48,7 +48,6 @@ public:
     void                guidedModeTakeoff               (Vehicle* vehicle, double takeoffAltRel) override;
     void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
     void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel, bool pauseVehicle) override;
-    double              minimumTakeoffAltitude          (Vehicle* vehicle) override;
     void                startMission                    (Vehicle* vehicle) override;
     bool                isGuidedMode                    (const Vehicle* vehicle) const override;
     void                initializeVehicle               (Vehicle* vehicle) override;