diff --git a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.inc b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.inc
index 51bb8343062..b83652302c3 100644
--- a/wpimath/src/main/native/include/frc/estimator/PoseEstimator.inc
+++ b/wpimath/src/main/native/include/frc/estimator/PoseEstimator.inc
@@ -79,11 +79,6 @@ template <typename WheelSpeeds, typename WheelPositions>
 Pose2d PoseEstimator<WheelSpeeds, WheelPositions>::GetEstimatedPosition()
     const {
   return m_poseEstimate;
-  if (m_visionUpdates.empty()) {
-    return m_odometry.GetPose();
-  }
-  auto visionUpdate = m_visionUpdates.rbegin()->second;
-  return visionUpdate.Compensate(m_odometry.GetPose());
 }
 
 template <typename WheelSpeeds, typename WheelPositions>