diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg
index dcaf1e11a93..0ee46b3910f 100644
--- a/msg/position_setpoint.msg
+++ b/msg/position_setpoint.msg
@@ -31,8 +31,6 @@ bool yaw_valid			# true if yaw setpoint valid
 float32 yawspeed		# yawspeed (only for multirotors, in rad/s)
 bool yawspeed_valid		# true if yawspeed setpoint valid
 
-int8 landing_gear		# landing gear: see definition of the states in landing_gear.msg
-
 float32 loiter_radius		# loiter radius (only for fixed wing), in m
 int8 loiter_direction		# loiter direction: 1 = CW, -1 = CCW
 
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index 56f07655c87..9dc43e562d0 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -450,7 +450,6 @@ bool FlightTaskAuto::_evaluateTriplets()
 
 	if (triplet_update || (_current_state != previous_state) || _current_state == State::offtrack) {
 		_updateInternalWaypoints();
-		_mission_gear = _sub_triplet_setpoint.get().current.landing_gear;
 	}
 
 	if (_param_com_obs_avoid.get()
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index 1479c5b9311..302a1d66f60 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -132,7 +132,6 @@ protected:
 
 	State _current_state{State::none};
 	float _target_acceptance_radius{0.0f}; /**< Acceptances radius of the target */
-	int _mission_gear{landing_gear_s::GEAR_KEEP};
 
 	float _yaw_sp_prev{NAN};
 	AlphaFilter<float> _yawspeed_filter;