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AP_Arming: revert add system check of main loop rate 

This reverts commit 6713caba55.
This commit is contained in:
Randy Mackay 2022-12-15 15:23:09 +09:00
parent 83a62d6985
commit 3b55e923c7
1 changed files with 0 additions and 11 deletions
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11
libraries/AP_Arming/AP_Arming.cpp
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@ -50,7 +50,6 @@
#include <AP_Mount/AP_Mount.h>
#include <AP_OpenDroneID/AP_OpenDroneID.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Scheduler/AP_Scheduler.h>
#if HAL_MAX_CAN_PROTOCOL_DRIVERS
#include <AP_CANManager/AP_CANManager.h>
@ -961,16 +960,6 @@ bool AP_Arming::system_checks(bool report)
check_failed(ARMING_CHECK_SYSTEM, report, "Param storage failed");
return false;
}
// check main loop rate is at least 90% of expected value
const float actual_loop_rate = AP::scheduler().get_filtered_loop_rate_hz();
const uint16_t expected_loop_rate = AP::scheduler().get_loop_rate_hz();
const float loop_rate_pct = actual_loop_rate / expected_loop_rate;
if (loop_rate_pct < 0.90) {
check_failed(ARMING_CHECK_SYSTEM, report, "Main loop slow (%uHz < %uHz)", (unsigned)actual_loop_rate, (unsigned)expected_loop_rate);
return false;
}
#if AP_TERRAIN_AVAILABLE
const AP_Terrain *terrain = AP_Terrain::get_singleton();
if ((terrain != nullptr) && terrain->init_failed()) {