diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 602de21729..c16aa048eb 100755
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -103,7 +103,6 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
             .disarm_on_landing = 0,
             .rth_allow_landing = NAV_RTH_ALLOW_LANDING_ALWAYS,
             .auto_overrides_motor_stop = 1,
-            .rth_alt_control_override = 0,  //set using nav_rth_alt_control_override
         },
 
         // General navigation parameters
@@ -222,8 +221,6 @@ static navigationFSMEvent_t nextForNonGeoStates(void);
 void initializeRTHSanityChecker(const fpVector3_t * pos);
 bool validateRTHSanityChecker(void);
 
-static void OverRideRTHAtitudePreset(void);
-
 /*************************************************************************************************/
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_IDLE(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE(navigationFSMState_t previousState);
@@ -1085,8 +1082,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_CRUISE_3D_ADJUSTING(nav
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigationFSMState_t previousState)
 {
     navigationFSMStateFlags_t prevFlags = navGetStateFlags(previousState);
-    
-    posControl.flags.CanOverRideRTHAlt = false;   //prevent unwanted override if AltHold selected at RTH initialize
 
     if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || (posControl.flags.estPosStatus != EST_TRUSTED) || !STATE(GPS_FIX_HOME)) {
         // Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
@@ -1150,29 +1145,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
     }
 }
 
-static void OverRideRTHAtitudePreset(void)
-{
-    if (!navConfig()->general.flags.rth_alt_control_override) {
-        return;
-    }
-
-    if (!IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) {
-        posControl.flags.CanOverRideRTHAlt = true;        
-    }
-    else {
-        if (posControl.flags.CanOverRideRTHAlt && !posControl.flags.forcedRTHActivated) {          
-            posControl.rthState.rthInitialAltitude = posControl.actualState.abs.pos.z;                        
-            posControl.rthState.rthFinalAltitude = posControl.rthState.rthInitialAltitude;            
-            posControl.flags.CanOverRideRTHAlt = false;
-        }
-    }
-}
-
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
-    
-    OverRideRTHAtitudePreset();
 
     if ((posControl.flags.estHeadingStatus == EST_NONE)) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
@@ -1247,8 +1222,6 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
-    
-    OverRideRTHAtitudePreset();
 
     if ((posControl.flags.estHeadingStatus == EST_NONE)) {
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;