diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 6bf0fbe586..62daae5ea8 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -254,7 +254,7 @@ void AC_PosControl::init_takeoff()
 {
     const Vector3f& curr_pos = _inav.get_position();
 
-    _pos_target.z = curr_pos.z + POSCONTROL_TAKEOFF_JUMP_CM;
+    _pos_target.z = curr_pos.z;
 
     // freeze feedforward to avoid jump
     freeze_ff_z();
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index 0941e5c00b..488b14dbc0 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -22,7 +22,6 @@
 #define POSCONTROL_STOPPING_DIST_Z_MAX          200.0f  // max stopping distance vertically   
                                                         // should be 1.5 times larger than POSCONTROL_ACCELERATION.
                                                         // max acceleration = max lean angle * 980 * pi / 180.  i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
-#define POSCONTROL_TAKEOFF_JUMP_CM                0.0f  // during take-off altitude target is set to current altitude + this value
 
 #define POSCONTROL_SPEED                        500.0f  // default horizontal speed in cm/s
 #define POSCONTROL_SPEED_DOWN                  -150.0f  // default descent rate in cm/s