diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 78d3576115d95997fc0bc38ff29695865de601a8..26c74ca7ed9aea96bc1d59568144581874c23c2a 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -4579,17 +4579,6 @@ if required by the gimbal (only in AUX output mode)</short_desc>
       <decimal>2</decimal>
       <increment>1</increment>
     </parameter>
-    <parameter default="0.5" name="MPC_ACC_HOR_ESTM" type="FLOAT">
-      <short_desc>Horizontal acceleration in manual modes when te estimator speed limit is removed.
-If full stick is being applied and the estimator stops demanding a speed limit,
-which it had been before (e.g if GPS is gained while flying on optical flow/vision only),
-the vehicle will accelerate at this rate until the normal position control speed is achieved</short_desc>
-      <min>0.2</min>
-      <max>2.0</max>
-      <unit>m/s/s</unit>
-      <decimal>1</decimal>
-      <increment>0.1</increment>
-    </parameter>
     <parameter default="5.0" name="MPC_ACC_HOR_MAX" type="FLOAT">
       <short_desc>Maximum horizontal acceleration for auto mode and for manual mode</short_desc>
       <long_desc>Manual mode: Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3. Auto mode: Used with MPC_AUTO_MODE 0 only. For MPC_AUTO_MODE 1, MPC_ACC_HOR is always used.</long_desc>