diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 4bc96256fe..ac9d812a81 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -960,21 +960,6 @@ void AP_GPS::inject_data(uint8_t instance, uint8_t *data, uint16_t len)
 
 void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 {
-    static uint32_t last_send_time_ms[MAVLINK_COMM_NUM_BUFFERS];
-    if (status(0) > AP_GPS::NO_GPS) {
-        // when we have a GPS then only send new data
-        if (last_send_time_ms[chan] == last_message_time_ms(0)) {
-            return;
-        }
-        last_send_time_ms[chan] = last_message_time_ms(0);
-    } else {
-        // when we don't have a GPS then send at 1Hz
-        uint32_t now = AP_HAL::millis();
-        if (now - last_send_time_ms[chan] < 1000) {
-            return;
-        }
-        last_send_time_ms[chan] = now;
-    }
     const Location &loc = location(0);
     float hacc = 0.0f;
     float vacc = 0.0f;
@@ -1004,15 +989,9 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 #if GPS_MAX_RECEIVERS > 1
 void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
 {
-    static uint32_t last_send_time_ms[MAVLINK_COMM_NUM_BUFFERS];
     if (num_instances < 2 || status(1) <= AP_GPS::NO_GPS) {
         return;
     }
-    // when we have a GPS then only send new data
-    if (last_send_time_ms[chan] == last_message_time_ms(1)) {
-        return;
-    }
-    last_send_time_ms[chan] = last_message_time_ms(1);
 
     const Location &loc = location(1);
     mavlink_msg_gps2_raw_send(