diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 90f964c7d4..eedbd3bd1d 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -919,13 +919,7 @@ MulticopterPositionControl::start_flight_task()
 		should_disable_task = false;
 		int error = 0;
 		switch (MPC_AUTO_MODE.get()) {
-		case 0:
 		case 1:
-		case 2:
-			error =  _flight_tasks.switchTask(FlightTaskIndex::AutoLine);
-			break;
-
-		case 3:
 			error =  _flight_tasks.switchTask(FlightTaskIndex::AutoLineSmoothVel);
 			break;
 
@@ -965,7 +959,6 @@ MulticopterPositionControl::start_flight_task()
 			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmoothVel);
 			break;
 
-		case 0:
 		default:
 			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
 			break;
@@ -994,9 +987,6 @@ MulticopterPositionControl::start_flight_task()
 			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmooth);
 			break;
 
-		case 0:
-		case 2:
-		case 3:
 		default:
 			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
 			break;
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index f86eb78206..5c50a66c42 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -681,22 +681,11 @@ PARAM_DEFINE_INT32(MPC_POS_MODE, 1);
 /**
  * Auto sub-mode.
  *
- * The supported sub-modes are:
- * 0 Direct line tracking, no smoothing
- *
- * 1 Not used
- *
- * 2 Not used
- *
- * 3 Jerk-limited trajectory
- *
  * @value 0 Default line tracking
- * @value 1 N/A
- * @value 2 N/A
- * @value 3 Jerk-limited trajectory
+ * @value 1 Jerk-limited trajectory
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_INT32(MPC_AUTO_MODE, 3);
+PARAM_DEFINE_INT32(MPC_AUTO_MODE, 1);
 
 /**
  * Delay from idle state to arming state.