diff --git a/flight/modules/AltitudeHold/altitudehold.c b/flight/modules/AltitudeHold/altitudehold.c
index 768d9afd0..e3d32ce92 100644
--- a/flight/modules/AltitudeHold/altitudehold.c
+++ b/flight/modules/AltitudeHold/altitudehold.c
@@ -238,17 +238,13 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
 
             x[0] = baro.Altitude;
             // rotate avg accels into earth frame and store it
-            if (1) {
-                float q[4], Rbe[3][3];
-                q[0] = attitudeState.q1;
-                q[1] = attitudeState.q2;
-                q[2] = attitudeState.q3;
-                q[3] = attitudeState.q4;
-                Quaternion2R(q, Rbe);
-                x[1] = -(Rbe[0][2] * accelState.x + Rbe[1][2] * accelState.y + Rbe[2][2] * accelState.z + 9.81f);
-            } else {
-                x[1] = -accelState.z + 9.81f;
-            }
+            float q[4], Rbe[3][3];
+            q[0] = attitudeState.q1;
+            q[1] = attitudeState.q2;
+            q[2] = attitudeState.q3;
+            q[3] = attitudeState.q4;
+            Quaternion2R(q, Rbe);
+            x[1] = -(Rbe[0][2] * accelState.x + Rbe[1][2] * accelState.y + Rbe[2][2] * accelState.z + 9.81f);
 
             dT = PIOS_DELAY_DiffuS(timeval) / 1.0e6f;
             timeval = PIOS_DELAY_GetRaw();
diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index c1efb4ebd..8e7e99aa4 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -856,8 +856,6 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
     altitudeHoldDesiredData.Pitch = cmd->Pitch * stabSettings.PitchMax;
     altitudeHoldDesiredData.Yaw   = cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
 
-    float currentDown;
-    PositionStateDownGet(&currentDown);
     if (changed) {
         // After not being in this mode for a while init at current height
         AltHoldSmoothedData altHold;