diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index d6072e1e5b..aaf25c9d7e 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -313,7 +313,6 @@ bool Ekf::update()
 				// correct position and height for offset relative to IMU
 				Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
 				Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-				warnx("pos_offset_earth %lf %lf %lf", (double)pos_offset_earth(0)*100, (double)pos_offset_earth(1)*100, (double)pos_offset_earth(2)*100);
 				_ev_sample_delayed.posNED(0) -= pos_offset_earth(0);
 				_ev_sample_delayed.posNED(1) -= pos_offset_earth(1);
 				_ev_sample_delayed.posNED(2) -= pos_offset_earth(2);
@@ -407,8 +406,6 @@ bool Ekf::initialiseFilter(void)
 		}
 	}
 
-	// warnx("_params.fusion_mode & MASK_USE_EVPOS %d", (int)(_params.fusion_mode & MASK_USE_EVPOS));
-	// warnx("_primary_hgt_source == VDIST_SENSOR_EV %d", (int)(_primary_hgt_source == VDIST_SENSOR_EV));
 	// set the default height source from the adjustable parameter
 	if (_hgt_counter == 0) {
 		if (_params.fusion_mode & MASK_USE_EVPOS) {
diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp
index 607a9c901e..c71e014b7d 100644
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@@ -105,7 +105,6 @@ void Ekf::fuseVelPosHeight()
 			_vel_pos_innov[4] = _state.pos(1) - _gps_sample_delayed.pos(1);
 
 		} else if (_control_status.flags.ev_pos) {
-			// warnx("Fusing EV pos");
 			R[3] = fmaxf(_ev_sample_delayed.posErr, 0.01f);
 			_vel_pos_innov[3] = _state.pos(0) - _ev_sample_delayed.posNED(0);
 			_vel_pos_innov[4] = _state.pos(1) - _ev_sample_delayed.posNED(1);
@@ -154,7 +153,6 @@ void Ekf::fuseVelPosHeight()
 			// innovation gate size
 			gate_size[5] = fmaxf(_params.range_innov_gate, 1.0f);
 		} else if (_control_status.flags.ev_pos) {
-			// warnx("fusing ext_visn_hight");
 			fuse_map[5] = true;
 			// calculate the innovation assuming the external vision observaton is in local NED frame
 			_vel_pos_innov[5] = _state.pos(2) - _ev_sample_delayed.posNED(2);