diff --git a/msg/estimator_innovations.msg b/msg/estimator_innovations.msg
index 311e840e54..cb3e85a1c4 100644
--- a/msg/estimator_innovations.msg
+++ b/msg/estimator_innovations.msg
@@ -13,12 +13,6 @@ float32    ev_vvel	# vertical external vision velocity innovation (m/sec) and in
 float32[2] ev_hpos	# horizontal external vision position innovation (m) and innovation variance (m**2)
 float32    ev_vpos	# vertical external vision position innovation (m) and innovation variance (m**2)
 
-# Fake Position and Velocity
-float32[2] fake_hvel	# fake horizontal velocity innovation (m/s) and innovation variance ((m/s)**2)
-float32    fake_vvel	# fake vertical velocity innovation (m/s) and innovation variance ((m/s)**2)
-float32[2] fake_hpos	# fake horizontal position innovation (m) and innovation variance (m**2)
-float32    fake_vpos	# fake vertical position innovation (m) and innovation variance (m**2)
-
 # Height sensors
 float32 rng_vpos	# range sensor height innovation (m) and innovation variance (m**2)
 float32 baro_vpos	# barometer height innovation (m) and innovation variance (m**2)
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 2e8f66358e..ac97af886c 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -582,8 +582,7 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp, const imuSample &imu
 	_ekf.getHaglInnov(innovations.hagl);
 	// Not yet supported
 	innovations.aux_vvel = NAN;
-	innovations.fake_hpos[0] = innovations.fake_hpos[1] = innovations.fake_vpos = NAN;
-	innovations.fake_hvel[0] = innovations.fake_hvel[1] = innovations.fake_vvel = NAN;
+
 	innovations.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 	_estimator_innovations_pub.publish(innovations);
 
@@ -622,8 +621,6 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime &timestamp)
 	_ekf.getHaglInnovRatio(test_ratios.hagl);
 	// Not yet supported
 	test_ratios.aux_vvel = NAN;
-	test_ratios.fake_hpos[0] = test_ratios.fake_hpos[1] = test_ratios.fake_vpos = NAN;
-	test_ratios.fake_hvel[0] = test_ratios.fake_hvel[1] = test_ratios.fake_vvel = NAN;
 
 	test_ratios.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 	_estimator_innovation_test_ratios_pub.publish(test_ratios);
@@ -648,8 +645,6 @@ void EKF2::PublishInnovationVariances(const hrt_abstime &timestamp)
 	_ekf.getHaglInnovVar(variances.hagl);
 	// Not yet supported
 	variances.aux_vvel = NAN;
-	variances.fake_hpos[0] = variances.fake_hpos[1] = variances.fake_vpos = NAN;
-	variances.fake_hvel[0] = variances.fake_hvel[1] = variances.fake_vvel = NAN;
 
 	variances.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 	_estimator_innovation_variances_pub.publish(variances);