diff --git a/include/imu/math/imu2d_tools.h b/include/imu/math/imu2d_tools.h
index 316405e50afa3ce2a620766e6c3a910615797536..a98aa732950ff8e0168203aaf8beafad95bbbbe0 100644
--- a/include/imu/math/imu2d_tools.h
+++ b/include/imu/math/imu2d_tools.h
@@ -183,7 +183,6 @@ inline void compose(const MatrixBase<D1>& d1,
     Map<const Matrix<typename D2::Scalar, 2, 1> >   dp2    ( & d2( 0 ) );
     Map<const Matrix<typename D2::Scalar, 2, 1> >   dv2    ( & d2( 3 ) );
     Map<Matrix<typename D3::Scalar, 2, 1> >         sum_p  ( & sum( 0 ) );
-    sum(2)                                          =       d1(2) + d2(2);
     Map<Matrix<typename D3::Scalar, 2, 1> >         sum_v  ( & sum( 3 ) );
 
     compose(dp1, d1(2), dv1, dp2, d2(2), dv2, dt, sum_p, sum(2), sum_v);