diff --git a/msg/PositionControllerStatus.msg b/msg/PositionControllerStatus.msg
index 7237351fd0..44ec5412ba 100644
--- a/msg/PositionControllerStatus.msg
+++ b/msg/PositionControllerStatus.msg
@@ -7,6 +7,4 @@ float32 target_bearing		# Bearing angle from aircraft to current target [rad]
 float32 xtrack_error		# Signed track error [m]
 float32 wp_dist			# Distance to active (next) waypoint [m]
 float32 acceptance_radius	# Current horizontal acceptance radius [m]
-float32 yaw_acceptance		# Yaw acceptance error[rad]
-float32 altitude_acceptance	# Current vertical acceptance error [m]
 uint8 type			# Current (applied) position setpoint type (see PositionSetpoint.msg)
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
index 8baddd55e6..5a55be1cc8 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -487,8 +487,6 @@ FixedwingPositionControl::status_publish()
 	pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(_current_latitude, _current_longitude,
 				  _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
 
-	pos_ctrl_status.yaw_acceptance = NAN;
-
 	pos_ctrl_status.timestamp = hrt_absolute_time();
 
 	pos_ctrl_status.type = _position_sp_type;
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 201eeb6123..34b4d2c00e 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1142,17 +1142,11 @@ float Navigator::get_altitude_acceptance_radius()
 
 	} else {
 		float alt_acceptance_radius = _param_nav_mc_alt_rad.get();
-
-		const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
-
 		const position_setpoint_s &curr_sp = get_position_setpoint_triplet()->current;
 
 		if (PX4_ISFINITE(curr_sp.alt_acceptance_radius) && curr_sp.alt_acceptance_radius > FLT_EPSILON) {
 			alt_acceptance_radius = curr_sp.alt_acceptance_radius;
 
-		} else if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
-			   && pos_ctrl_status.altitude_acceptance > alt_acceptance_radius) {
-			alt_acceptance_radius = pos_ctrl_status.altitude_acceptance;
 		}
 
 		return alt_acceptance_radius;
@@ -1214,14 +1208,6 @@ bool Navigator::get_yaw_to_be_accepted(float mission_item_yaw)
 {
 	float yaw = mission_item_yaw;
 
-	const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
-
-	// if yaw_acceptance from position controller is NaN overwrite the mission item yaw such that
-	// the waypoint can be reached from any direction
-	if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp) && !PX4_ISFINITE(pos_ctrl_status.yaw_acceptance)) {
-		yaw = pos_ctrl_status.yaw_acceptance;
-	}
-
 	return PX4_ISFINITE(yaw);
 }
 
diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp
index 7466077a93..119c8c18e8 100644
--- a/src/modules/rover_pos_control/RoverPositionControl.cpp
+++ b/src/modules/rover_pos_control/RoverPositionControl.cpp
@@ -441,7 +441,6 @@ RoverPositionControl::Run()
 								  _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
 
 					pos_ctrl_status.acceptance_radius = turn_distance;
-					pos_ctrl_status.yaw_acceptance = NAN;
 
 					pos_ctrl_status.timestamp = hrt_absolute_time();