diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 25118a361e..9720c9c067 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -1189,11 +1189,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
         break;
 
     case MSP_ALTITUDE:
-#if defined(USE_BARO) || defined(USE_RANGEFINDER)
         sbufWriteU32(dst, getEstimatedAltitudeCm());
-#else
-        sbufWriteU32(dst, 0);
-#endif
 #ifdef USE_VARIO
         sbufWriteU16(dst, getEstimatedVario());
 #else
diff --git a/src/main/telemetry/hott.c b/src/main/telemetry/hott.c
index d4f5a21fa0..88c7c72fdf 100644
--- a/src/main/telemetry/hott.c
+++ b/src/main/telemetry/hott.c
@@ -237,10 +237,7 @@ void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage)
     hottGPSMessage->home_distance_L = GPS_distanceToHome & 0x00FF;
     hottGPSMessage->home_distance_H = GPS_distanceToHome >> 8;
 
-    int32_t altitudeM = gpsSol.llh.altCm / 100;
-    if (!STATE(GPS_FIX)) {
-        altitudeM = getEstimatedAltitudeCm() / 100;
-    }
+    int32_t altitudeM = getEstimatedAltitudeCm() / 100;
 
     const uint16_t hottGpsAltitude = constrain(altitudeM + HOTT_GPS_ALTITUDE_OFFSET, 0 , UINT16_MAX); // gpsSol.llh.alt in m ; offset = 500 -> O m
 
diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c
index 5d6df83249..e174cd23c7 100644
--- a/src/main/telemetry/ltm.c
+++ b/src/main/telemetry/ltm.c
@@ -146,12 +146,7 @@ static void ltm_gframe(void)
     ltm_serialise_32(gpsSol.llh.lat);
     ltm_serialise_32(gpsSol.llh.lon);
     ltm_serialise_8((uint8_t)(gpsSol.groundSpeed / 100));
-
-#if defined(USE_BARO) || defined(USE_RANGEFINDER)
-    ltm_alt = (sensors(SENSOR_RANGEFINDER) || sensors(SENSOR_BARO)) ? getEstimatedAltitudeCm() : gpsSol.llh.altCm;
-#else
-    ltm_alt = gpsSol.llh.altCm;
-#endif
+    ltm_alt = getEstimatedAltitudeCm();
     ltm_serialise_32(ltm_alt);
     ltm_serialise_8((gpsSol.numSat << 2) | gps_fix_type);
     ltm_finalise();
diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
index 8355687172..61a003c5f1 100644
--- a/src/main/telemetry/mavlink.c
+++ b/src/main/telemetry/mavlink.c
@@ -353,11 +353,7 @@ void mavlinkSendPosition(void)
         // alt Altitude in 1E3 meters (millimeters) above MSL
         gpsSol.llh.altCm * 10,
         // relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
-#if defined(USE_BARO) || defined(USE_RANGEFINDER)
-        (sensors(SENSOR_RANGEFINDER) || sensors(SENSOR_BARO)) ? getEstimatedAltitudeCm() * 10 : gpsSol.llh.altCm * 10,
-#else
-        gpsSol.llh.altCm * 10,
-#endif
+        getEstimatedAltitudeCm() * 10,
         // Ground X Speed (Latitude), expressed as m/s * 100
         0,
         // Ground Y Speed (Longitude), expressed as m/s * 100
@@ -419,24 +415,7 @@ void mavlinkSendHUDAndHeartbeat(void)
     }
 #endif
 
-    // select best source for altitude
-#if defined(USE_BARO) || defined(USE_RANGEFINDER)
-    if (sensors(SENSOR_RANGEFINDER) || sensors(SENSOR_BARO)) {
-        // Baro or sonar generally is a better estimate of altitude than GPS MSL altitude
-        mavAltitude = getEstimatedAltitudeCm() / 100.0;
-    }
-#if defined(USE_GPS)
-    else if (sensors(SENSOR_GPS)) {
-        // No sonar or baro, just display altitude above MLS
-        mavAltitude = gpsSol.llh.altCm / 100.0;
-    }
-#endif
-#elif defined(USE_GPS)
-    if (sensors(SENSOR_GPS)) {
-        // No sonar or baro, just display altitude above MLS
-        mavAltitude = gpsSol.llh.altCm / 100.0;
-    }
-#endif
+    mavAltitude = getEstimatedAltitudeCm() / 100.0;
 
     mavlink_msg_vfr_hud_pack(0, 200, &mavMsg,
         // airspeed Current airspeed in m/s