diff --git a/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index cf283cba5d..5b69772dac 100755
--- a/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -609,19 +609,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 					att.rollspeed = x_aposteriori[0];
 					att.pitchspeed = x_aposteriori[1];
 					att.yawspeed = x_aposteriori[2];
-					// att.rollacc = x_aposteriori[3];
-					// att.pitchacc = x_aposteriori[4];
-					// att.yawacc = x_aposteriori[5];
-
-					// att.g_comp[0] = raw.accelerometer_m_s2[0] - acc(0);
-					// att.g_comp[1] = raw.accelerometer_m_s2[1] - acc(1);
-					// att.g_comp[2] = raw.accelerometer_m_s2[2] - acc(2);
-
-					// /* copy offsets */
-					// memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
 
 					/* magnetic declination */
-
 					matrix::Dcm<float> R(&Rot_matrix[0]);
 					matrix::Dcm<float> R_declination(&R_decl.data[0][0]);
 					R = R_declination * R;
diff --git a/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 5da78d4e05..044e9767fb 100644
--- a/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -821,14 +821,6 @@ void AttitudePositionEstimatorEKF::publishAttitude()
 {
 	// Output results
 	matrix::Quaternion<float> q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
-	//math::Matrix<3, 3> R = q.to_dcm();
-	//math::Vector<3> euler = R.to_euler();
-
-	/*for (int i = 0; i < 3; i++) {
-		for (int j = 0; j < 3; j++) {
-			PX4_R(_att.R, i, j) = R(i, j);
-		}
-	}*/
 
 	_att.timestamp = _last_sensor_timestamp;
 	_att.q[0] = _ekf->states[0];
@@ -841,11 +833,6 @@ void AttitudePositionEstimatorEKF::publishAttitude()
 	_att.pitchspeed = _ekf->dAngIMU.y / _ekf->dtIMU - _ekf->states[11] / _ekf->dtIMUfilt;
 	_att.yawspeed = _ekf->dAngIMU.z / _ekf->dtIMU - _ekf->states[12] / _ekf->dtIMUfilt;
 
-	// gyro offsets
-	//_att.rate_offsets[0] = _ekf->states[10] / _ekf->dtIMUfilt;
-	//_att.rate_offsets[1] = _ekf->states[11] / _ekf->dtIMUfilt;
-	//_att.rate_offsets[2] = _ekf->states[12] / _ekf->dtIMUfilt;
-
 	/* lazily publish the attitude only once available */
 	if (_att_pub != nullptr) {
 		/* publish the attitude */
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 663e49c7a0..8fb97526a5 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -472,13 +472,6 @@ void AttitudeEstimatorQ::task_main()
 		att.pitchspeed = _rates(1);
 		att.yawspeed = _rates(2);
 
-		//for (int i = 0; i < 3; i++) {
-		//	att.g_comp[i] = _accel(i) - _pos_acc(i);
-		//}
-
-		///* copy offsets */
-		//memcpy(&att.rate_offsets, _gyro_bias.data, sizeof(att.rate_offsets));
-
 		memcpy(&att.q[0], _q.data, sizeof(att.q));
 		att.q_valid = true;