diff --git a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
index 3226d80bd..5858bf5e0 100644
--- a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
+++ b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
@@ -45,13 +45,7 @@
 
 #include <openpilot.h>
 
-#include <pios_struct_helper.h>
-#include <uavobjectmanager.h>
-
 #include "hwsettings.h"
-#include "flightplan.h"
-#include "waypoint.h"
-#include "pathaction.h"
 #include "attitudestate.h"
 #include "pathdesired.h" // object that will be updated by the module
 #include "positionstate.h"
@@ -68,6 +62,7 @@
 #include "velocitydesired.h"
 #include "velocitystate.h"
 #include "taskinfo.h"
+#include <pios_struct_helper.h>
 
 #include "paths.h"
 #include "CoordinateConversions.h"
@@ -85,7 +80,6 @@ static PathStatusData pathStatus;
 static FixedWingPathFollowerSettingsData fixedwingpathfollowerSettings;
 
 // Private functions
-static bool checkFlightPlan();
 static void pathfollowerTask(void *parameters);
 static void SettingsUpdatedCb(UAVObjEvent *ev);
 static void updatePathVelocity();
@@ -169,7 +163,6 @@ static void pathfollowerTask(__attribute__((unused)) void *parameters)
         // 1. Must have FixedWing type airframe
         // 2. Flight mode is PositionHold and PathDesired.Mode is Endpoint  OR
         // FlightMode is PathPlanner and PathDesired.Mode is Endpoint or Path
-        // 3. FlightPlan must be valid
 
         SystemSettingsGet(&systemSettings);
         if ((systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING) &&
@@ -179,15 +172,11 @@ static void pathfollowerTask(__attribute__((unused)) void *parameters)
             vTaskDelay(1000);
             continue;
         }
-        if (!checkFlightPlan()) {
-            AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
-            vTaskDelay(1000);
-            continue;
-        }
 
         // Continue collecting data if not enough time
         vTaskDelayUntil(&lastUpdateTime, fixedwingpathfollowerSettings.UpdatePeriod / portTICK_RATE_MS);
 
+
         FlightStatusGet(&flightStatus);
         PathStatusGet(&pathStatus);
 
@@ -253,48 +242,6 @@ static void pathfollowerTask(__attribute__((unused)) void *parameters)
     }
 }
 
-static bool checkFlightPlan()
-{
-    uint16_t i;
-    uint16_t waypointCount;
-    uint16_t actionCount;
-    uint8_t flightCrc;
-    FlightPlanData flightPlan;
-
-    FlightPlanGet(&flightPlan);
-
-    waypointCount = flightPlan.WaypointCount;
-    actionCount = flightPlan.PathActionCount;
-
-    // check count consistency
-    if (waypointCount > UAVObjGetNumInstances(WaypointHandle())) {
-        PIOS_DEBUGLOG_Printf("FlighPlan : waypoint count error!");
-        return false;
-    }
-    if (actionCount > UAVObjGetNumInstances(PathActionHandle())) {
-        PIOS_DEBUGLOG_Printf("FlighPlan : path action count error!");
-        return false;
-    }
-
-    // check CRC
-    flightCrc = 0;
-    for(i = 0; i < waypointCount; i++) {
-        flightCrc = UAVObjUpdateCRC(WaypointHandle(), i, flightCrc);
-    }
-    for(i = 0; i < actionCount; i++) {
-        flightCrc = UAVObjUpdateCRC(PathActionHandle(), i, flightCrc);
-    }
-    if (flightCrc != flightPlan.Crc) {
-        PIOS_DEBUGLOG_Printf("FlighPlan : bad CRC (%d / %d)!", flightCrc, flightPlan.Crc);
-        return false;
-    }
-
-    // everything ok (hopefully...)
-    PIOS_DEBUGLOG_Printf("FlighPlan : passed consistency check.", flightCrc, flightPlan.Crc);
-
-    return true;
-}
-
 /**
  * Compute desired velocity from the current position and path
  *