diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index b3a6e0298a4859cdc689e214f1267bef1fe3b8b4..856755d1c10f46f8aa15b852c48cefd10d8cc2f4 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -15,9 +15,6 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
     // Remove duplicated satellites
     _navigation.uniqueNavigation();
 
-    // Define error msg
-    char msg[128] = "";
-
     GNSSUtils::ComputePosOutput output;
     sol_t sol;
     sol = {{0}};
@@ -53,28 +50,6 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
     output.lat_lon = ecefToLatLonAlt(output.pos);
 
     return output;
-  }
-
-  output.time = sol.time.time;
-  output.sec  = sol.time.sec;
-  output.pos  = Eigen::Vector3d(sol.rr);
-  std::cout << "Compute pos:  " << output.pos.transpose() << "\n";
-  output.vel = Eigen::Vector3d(&sol.rr[3]);
-  output.pos_covar << sol.qr[0], sol.qr[3], sol.qr[5], sol.qr[3], sol.qr[1], sol.qr[4], sol.qr[5], sol.qr[3], sol.qr[2];
-
-  // XXX: segmentation fault here.
-  // if (sol.dtr != NULL)
-  // {
-  //   output.rcv_bias << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5];
-  // }
-  output.type    = sol.type;
-  output.stat    = sol.stat;
-  output.ns      = sol.ns;
-  output.age     = sol.age;
-  output.ratio   = sol.ratio;
-  output.lat_lon = ecefToLatLonAlt(output.pos);
-
-  return output;
 }
 
 // ComputePosOutput computePosOwn(const GNSSUtils::Observations & _observations,