diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg
index c0c836c0fa8..9e0864a9ad4 100644
--- a/msg/position_setpoint.msg
+++ b/msg/position_setpoint.msg
@@ -9,9 +9,6 @@ uint8 SETPOINT_TYPE_TAKEOFF=3	# takeoff setpoint
 uint8 SETPOINT_TYPE_LAND=4	# land setpoint, altitude must be ignored, descend until landing
 uint8 SETPOINT_TYPE_IDLE=5	# do nothing, switch off motors or keep at idle speed (MC)
 
-uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
-uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
-
 bool valid			# true if setpoint is valid
 uint8 type			# setpoint type to adjust behavior of position controller
 
@@ -19,7 +16,6 @@ float32 vx			# local velocity setpoint in m/s in NED
 float32 vy			# local velocity setpoint in m/s in NED
 float32 vz			# local velocity setpoint in m/s in NED
 bool velocity_valid		# true if local velocity setpoint valid
-uint8 velocity_frame		# to set velocity setpoints in NED or body
 bool alt_valid		# do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.
 
 float64 lat			# latitude, in deg
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 5946e06a8f1..768216596a2 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -1883,7 +1883,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
 		(fabsf(p1->vy - p2->vy) < FLT_EPSILON) &&
 		(fabsf(p1->vz - p2->vz) < FLT_EPSILON) &&
 		(p1->velocity_valid == p2->velocity_valid) &&
-		(p1->velocity_frame == p2->velocity_frame) &&
 		(p1->alt_valid == p2->alt_valid) &&
 		(fabs(p1->lat - p2->lat) < DBL_EPSILON) &&
 		(fabs(p1->lon - p2->lon) < DBL_EPSILON) &&