diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index 2a8f5fa9d0..b65e48d72b 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -79,16 +79,6 @@ void PositionControl::updateState(const vehicle_local_position_s &state, const V
 	_vel_dot = vel_dot;
 }
 
-void PositionControl::setIdle()
-{
-	_pos_sp = _pos;
-	_vel_sp.zero();
-	_acc_sp.zero();
-	_thr_sp.zero();
-	_yaw_sp = _yaw_sp_int = _yaw;
-	_yawspeed_sp = 0.0f;
-}
-
 void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &setpoint)
 {
 	_pos_sp = Vector3f(&setpoint.x);