diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 153d1ede00..6b359a2ed8 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -398,16 +398,6 @@ uint32_t GCS_MAVLINK_Plane::telem_delay() const
 // try to send a message, return false if it won't fit in the serial tx buffer
 bool GCS_MAVLINK_Plane::try_send_message(enum ap_message id)
 {
-    // if we don't have at least 0.2ms remaining before the main loop
-    // wants to fire then don't send a mavlink message. We want to
-    // prioritise the main flight control loop over communications
-    if (!hal.scheduler->in_delay_callback() &&
-        !AP_BoardConfig::in_sensor_config_error() &&
-        plane.scheduler.time_available_usec() < 200) {
-        gcs().set_out_of_time(true);
-        return false;
-    }
-
     switch (id) {
 
     case MSG_SERVO_OUT: