From 2f7df9ef4ca6c8907debb2059e31ecc098899b31 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 10 May 2022 17:53:32 +1000
Subject: [PATCH] Blimp: run prearm checks on all vehicles @1Hz, displaying
 @0.0333Hz

---
 Blimp/AP_Arming.cpp | 16 ----------------
 Blimp/AP_Arming.h   |  2 --
 Blimp/Blimp.cpp     |  2 --
 Blimp/config.h      |  4 ----
 4 files changed, 24 deletions(-)

diff --git a/Blimp/AP_Arming.cpp b/Blimp/AP_Arming.cpp
index e02d1f4fe5..17b12078a3 100644
--- a/Blimp/AP_Arming.cpp
+++ b/Blimp/AP_Arming.cpp
@@ -1,21 +1,5 @@
 #include "Blimp.h"
 
-
-// performs pre-arm checks. expects to be called at 1hz.
-void AP_Arming_Blimp::update(void)
-{
-    // perform pre-arm checks & display failures every 30 seconds
-    static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2;
-    pre_arm_display_counter++;
-    bool display_fail = false;
-    if (pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) {
-        display_fail = true;
-        pre_arm_display_counter = 0;
-    }
-
-    pre_arm_checks(display_fail);
-}
-
 bool AP_Arming_Blimp::pre_arm_checks(bool display_failure)
 {
     const bool passed = run_pre_arm_checks(display_failure);
diff --git a/Blimp/AP_Arming.h b/Blimp/AP_Arming.h
index 8955e09362..b092fa9ee4 100644
--- a/Blimp/AP_Arming.h
+++ b/Blimp/AP_Arming.h
@@ -19,8 +19,6 @@ public:
     AP_Arming_Blimp(const AP_Arming_Blimp &other) = delete;
     AP_Arming_Blimp &operator=(const AP_Arming_Blimp&) = delete;
 
-    void update(void);
-
     bool rc_calibration_checks(bool display_failure) override;
 
     bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;
diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index 7d902acc12..62f61f1fa9 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -204,8 +204,6 @@ void Blimp::one_hz_loop()
         Log_Write_Data(LogDataID::AP_STATE, ap.value);
     }
 
-    arming.update();
-
     if (!motors->armed()) {
         // make it possible to change ahrs orientation at runtime during initial config
         ahrs.update_orientation();
diff --git a/Blimp/config.h b/Blimp/config.h
index fd386ad5f4..776dcb4f8c 100644
--- a/Blimp/config.h
+++ b/Blimp/config.h
@@ -132,10 +132,6 @@
 #define FS_TERRAIN_TIMEOUT_MS          5000     // 5 seconds of missing terrain data will trigger failsafe (RTL)
 #endif
 
-#ifndef PREARM_DISPLAY_PERIOD
-# define PREARM_DISPLAY_PERIOD 30
-#endif
-
 // pre-arm baro vs inertial nav max alt disparity
 #ifndef PREARM_MAX_ALT_DISPARITY_CM
 # define PREARM_MAX_ALT_DISPARITY_CM       100     // barometer and inertial nav altitude must be within this many centimeters