diff --git a/msg/VehicleAttitudeSetpoint.msg b/msg/VehicleAttitudeSetpoint.msg
index f52025d2bb51..74a753023df5 100644
--- a/msg/VehicleAttitudeSetpoint.msg
+++ b/msg/VehicleAttitudeSetpoint.msg
@@ -1,9 +1,5 @@
 uint64 timestamp		# time since system start (microseconds)
 
-float32 roll_body		# body angle in NED frame (can be NaN for FW)
-float32 pitch_body		# body angle in NED frame (can be NaN for FW)
-float32 yaw_body		# body angle in NED frame (can be NaN for FW)
-
 float32 yaw_sp_move_rate	# rad/s (commanded by user)
 
 # For quaternion-based attitude control