diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp
index 30d2f5311fc0..b8ae5f6d8b9d 100644
--- a/src/modules/mc_att_control/mc_att_control.hpp
+++ b/src/modules/mc_att_control/mc_att_control.hpp
@@ -132,9 +132,6 @@ class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
 	AlphaFilter<float> _man_roll_input_filter;
 	AlphaFilter<float> _man_pitch_input_filter;
 
-	AlphaFilter<float> _man_x_input_filter;
-	AlphaFilter<float> _man_y_input_filter;
-
 	hrt_abstime _last_run{0};
 	hrt_abstime _last_attitude_setpoint{0};
 
diff --git a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
index b6df3769ac87..d8b97336b960 100644
--- a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
+++ b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
@@ -176,9 +176,6 @@ void MulticopterHoverThrustEstimator::Run()
 			matrix::Vector3f thrust_body_unallocated(control_allocator_status.unallocated_thrust);
 			matrix::Vector3f thrust_body_allocated = thrust_body_sp - thrust_body_unallocated;
 
-			thrust_body_allocated(0) = 0.f; // ignore for now
-			thrust_body_allocated(1) = 0.f; // ignore for now
-
 			const matrix::Quatf q_att{vehicle_attitude.q};
 			matrix::Vector3f thrust_allocated = q_att.rotateVector(thrust_body_allocated);