diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
index d697ec5da5..071c087c55 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -168,12 +168,14 @@ static int main_loop(int argc, char **argv)
 
         perf_end(perf_loop);
 
+#if 0
         if (hal.scheduler->in_timerprocess()) {
             // we are running when a timer process is running! This is
             // a scheduling error, and breaks the assumptions made in
             // our locking system
             ::printf("ERROR: timer processing running in loop()\n");
         }
+#endif
 
         /*
           give up 500 microseconds of time, to ensure drivers get a
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index e70df95adb..e6c297be3a 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -84,10 +84,12 @@ uint32_t PX4Scheduler::millis()
 
 void PX4Scheduler::delay_microseconds(uint16_t usec) 
 {
+#if 0
     if (_in_timer_proc) {
         ::printf("ERROR: delay_microseconds() from timer process\n");
         return;
     }
+#endif
     perf_begin(_perf_delay);
 	uint32_t start = micros();
     uint32_t dt;
@@ -99,10 +101,12 @@ void PX4Scheduler::delay_microseconds(uint16_t usec)
 
 void PX4Scheduler::delay(uint16_t ms)
 {
+#if 0
     if (_in_timer_proc) {
         ::printf("ERROR: delay() from timer process\n");
         return;
     }
+#endif
     perf_begin(_perf_delay);
 	uint64_t start = hrt_absolute_time();