diff --git a/msg/velocity_limits.msg b/msg/velocity_limits.msg
deleted file mode 100644
index 9ab5115abc69..000000000000
--- a/msg/velocity_limits.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-# Velocity and yaw rate limits for a multicopter position slow mode only
-
-uint64 timestamp # time since system start (microseconds)
-
-# absolute speeds, NAN means use default limit
-float32 horizontal_velocity # [m/s]
-float32 vertical_velocity # [m/s]
-float32 yaw_rate # [rad/s]
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 1079eedc3bb3..c80c46a1cd58 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1220,14 +1220,12 @@ void MavlinkReceiver::handle_message_set_velocity_limits(mavlink_message_t *msg)
 	mavlink_set_velocity_limits_t mavlink_set_velocity_limits;
 	mavlink_msg_set_velocity_limits_decode(msg, &mavlink_set_velocity_limits);
 
-	if (true) {
-		velocity_limits_s velocity_limits{};
-		velocity_limits.horizontal_velocity = mavlink_set_velocity_limits.horizontal_speed_limit;
-		velocity_limits.vertical_velocity = mavlink_set_velocity_limits.vertical_speed_limit;
-		velocity_limits.yaw_rate = mavlink_set_velocity_limits.yaw_rate_limit;
-		velocity_limits.timestamp = hrt_absolute_time();
-		_velocity_limits_pub.publish(velocity_limits);
-	}
+	velocity_limits_s velocity_limits{};
+	velocity_limits.horizontal_velocity = mavlink_set_velocity_limits.horizontal_speed_limit;
+	velocity_limits.vertical_velocity = mavlink_set_velocity_limits.vertical_speed_limit;
+	velocity_limits.yaw_rate = mavlink_set_velocity_limits.yaw_rate_limit;
+	velocity_limits.timestamp = hrt_absolute_time();
+	_velocity_limits_pub.publish(velocity_limits);
 }
 
 void