diff --git a/attitude_fw/ecl_controller.h b/attitude_fw/ecl_controller.h
index 4aa9621394..e28616ed94 100644
--- a/attitude_fw/ecl_controller.h
+++ b/attitude_fw/ecl_controller.h
@@ -59,12 +59,6 @@ struct ECL_ControlData {
 	float body_x_rate;
 	float body_y_rate;
 	float body_z_rate;
-	float speed_body_u;
-	float speed_body_v;
-	float speed_body_w;
-	float acc_body_x;
-	float acc_body_y;
-	float acc_body_z;
 	float roll_setpoint;
 	float pitch_setpoint;
 	float yaw_setpoint;
diff --git a/attitude_fw/ecl_yaw_controller.cpp b/attitude_fw/ecl_yaw_controller.cpp
index 9feb80ab58..52c1bab4c5 100644
--- a/attitude_fw/ecl_yaw_controller.cpp
+++ b/attitude_fw/ecl_yaw_controller.cpp
@@ -81,9 +81,6 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
 	/* Do not calculate control signal with bad inputs */
 	if (!(PX4_ISFINITE(ctl_data.roll) &&
 	      PX4_ISFINITE(ctl_data.pitch) &&
-	      PX4_ISFINITE(ctl_data.speed_body_u) &&
-	      PX4_ISFINITE(ctl_data.speed_body_v) &&
-	      PX4_ISFINITE(ctl_data.speed_body_w) &&
 	      PX4_ISFINITE(ctl_data.roll_rate_setpoint) &&
 	      PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
 		return _rate_setpoint;