diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index 370d01c7037d5122e7e9495d3d1982022b32cf37..ca9727a5d9ad91f67c80ebe126fea9d0354f2a61 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -557,19 +557,6 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
     }
 }
 
-bool PX4FirmwarePlugin::vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const
-{
-    if (vehicle->isOfflineEditingVehicle()) {
-        return FirmwarePlugin::vehicleYawsToNextWaypointInMission(vehicle);
-    } else {
-        if (vehicle->multiRotor() && vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"))) {
-            Fact* yawMode = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, QStringLiteral("MIS_YAWMODE"));
-            return yawMode && yawMode->rawValue().toInt() == 1;
-        }
-    }
-    return true;
-}
-
 uint32_t PX4FirmwarePlugin::highLatencyCustomModeTo32Bits(uint16_t hlCustomMode)
 {
     union px4_custom_mode px4_cm;
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
index f1aeba0e1c21843e197164ea170af9bff2bf70b3..05a90b66c1f058db85da9b80023d864ec79106e5 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -65,7 +65,6 @@ public:
     QString             offlineEditingParamFile(Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
     QString             brandImageIndoor                (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
     QString             brandImageOutdoor               (const Vehicle* vehicle) const override { Q_UNUSED(vehicle); return QStringLiteral("/qmlimages/PX4/BrandImage"); }
-    bool                vehicleYawsToNextWaypointInMission(const Vehicle* vehicle) const override;
     QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
     uint32_t            highLatencyCustomModeTo32Bits   (uint16_t hlCustomMode) override;
     bool                supportsTerrainFrame            (void) const override { return false; }