diff --git a/ArduSub/control_auto.cpp b/ArduSub/control_auto.cpp
index 8f100a5432fc9..dac67bdb914ba 100644
--- a/ArduSub/control_auto.cpp
+++ b/ArduSub/control_auto.cpp
@@ -662,7 +662,7 @@ void Sub::auto_terrain_recover_run()
 
     /////////////////////
     // update z target //
-    pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate, true);
+    pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate);
     pos_control.update_z_controller();
 
     ////////////////////////////
diff --git a/ArduSub/control_circle.cpp b/ArduSub/control_circle.cpp
index 9f057d9111322..1b555b48b79a9 100644
--- a/ArduSub/control_circle.cpp
+++ b/ArduSub/control_circle.cpp
@@ -80,6 +80,6 @@ void Sub::circle_run()
     }
 
     // update altitude target and call position controller
-    pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate, false);
+    pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate);
     pos_control.update_z_controller();
 }
diff --git a/ArduSub/control_guided.cpp b/ArduSub/control_guided.cpp
index 987c9b2383caa..cc933c8a76fdf 100644
--- a/ArduSub/control_guided.cpp
+++ b/ArduSub/control_guided.cpp
@@ -498,7 +498,7 @@ void Sub::guided_angle_control_run()
     attitude_control.input_euler_angle_roll_pitch_yaw(roll_in, pitch_in, yaw_in, true);
 
     // call position controller
-    pos_control.set_pos_target_z_from_climb_rate_cm(climb_rate_cms, false);
+    pos_control.set_pos_target_z_from_climb_rate_cm(climb_rate_cms);
     pos_control.update_z_controller();
 }
 
diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
index 6c1cca1109543..cd9e20bc5157d 100644
--- a/ArduSub/control_surface.cpp
+++ b/ArduSub/control_surface.cpp
@@ -55,7 +55,7 @@ void Sub::surface_run()
     desired_climb_rate = cmb_rate;
 
     // update altitude target and call position controller
-    pos_control.set_pos_target_z_from_climb_rate_cm(cmb_rate, true);
+    pos_control.set_pos_target_z_from_climb_rate_cm(cmb_rate);
     pos_control.update_z_controller();
 
     // pilot has control for repositioning