diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index c823487da2..5c038f0c50 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -1338,16 +1338,8 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 			break;
 
 		case MAV_CMD_NAV_TAKEOFF:
-
-			// reject takeoff item if minimum pitch (parameter 1) is set
-			if (PX4_ISFINITE(mavlink_mission_item->param1) && (fabsf(mavlink_mission_item->param1) > FLT_EPSILON)) {
-				_mavlink->send_statustext_critical("Takeoff rejected, remove deprecated minimum pitch");
-				return MAV_MISSION_INVALID_PARAM1;
-
-			} else {
-				mission_item->nav_cmd = NAV_CMD_TAKEOFF;
-				mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
-			}
+			mission_item->nav_cmd = NAV_CMD_TAKEOFF;
+			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 
 			break;