diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 32991e59b98c..db15c3d09d95 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
-param set-default COM_POS_FS_DELAY 5
-
 # there is a 2.5 factor applied on the _FS thresholds if for invalidation
 param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
index 20dfdfb073e7..1cd140fe5bae 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -813,7 +813,7 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f
 
 
 	// altitude
-	failsafe_flags.local_altitude_invalid = !lpos.z_valid || (now > lpos.timestamp + (_param_com_pos_fs_delay.get() * 1_s));
+	failsafe_flags.local_altitude_invalid = !lpos.z_valid || (now > lpos.timestamp + 1_s);
 
 
 	// attitude
@@ -864,7 +864,7 @@ bool EstimatorChecks::checkPosVelValidity(const hrt_abstime &now, const bool dat
 		const bool was_valid) const
 {
 	bool valid = was_valid;
-	const bool data_stale = (now > data_timestamp_us + _param_com_pos_fs_delay.get() * 1_s) || (data_timestamp_us == 0);
+	const bool data_stale = (now > data_timestamp_us + 1_s) || (data_timestamp_us == 0);
 	const float req_accuracy = (was_valid ? required_accuracy * 2.5f : required_accuracy);
 	const bool level_check_pass = data_valid && !data_stale && (data_accuracy < req_accuracy);
 
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
index dd96769ce07f..b5cc6c21853f 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
@@ -118,7 +118,6 @@ class EstimatorChecks : public HealthAndArmingCheckBase
 					(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
 					(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
 					(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
-					(ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay,
 					(ParamFloat<px4::params::COM_POS_LOW_EPH>) _param_com_low_eph,
 					(ParamInt<px4::params::COM_POS_LOW_ACT>) _param_com_pos_low_act
 				       )
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 0d3cf5f25f6f..48b0cce5221a 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -512,19 +512,6 @@ PARAM_DEFINE_INT32(COM_ARM_AUTH_MET, 0);
  */
 PARAM_DEFINE_FLOAT(COM_ARM_AUTH_TO, 1);
 
-/**
- * Loss of position failsafe activation delay.
- *
- * This sets number of seconds that the position checks need to be failed before the failsafe will activate.
- * The default value has been optimised for rotary wing applications. For fixed wing applications, a larger value between 5 and 10 should be used.
- *
- * @unit s
- * @group Commander
- * @min 1
- * @max 100
- */
-PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1);
-
 /**
  * Horizontal position error threshold.
  *