diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index c4a3197208..dede72d2d2 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -33,13 +33,7 @@
 
 #define WPNAV_WP_FAST_OVERSHOOT_MAX     200.0f      // 2m overshoot is allowed during fast waypoints to allow for smooth transitions to next waypoint
 
-#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
- # define WPNAV_LOITER_UPDATE_TIME      0.095f      // 10hz update rate on low speed CPUs (APM1, APM2)
- # define WPNAV_WP_UPDATE_TIME          0.095f      // 10hz update rate on low speed CPUs (APM1, APM2)
-#else
- # define WPNAV_LOITER_UPDATE_TIME      0.020f      // 50hz update rate on high speed CPUs (Pixhawk, Flymaple)
- # define WPNAV_WP_UPDATE_TIME          0.020f      // 50hz update rate on high speed CPUs (Pixhawk, Flymaple)
-#endif
+#define WPNAV_LOITER_UPDATE_TIME        0.020f      // 50hz update rate for loiter
 
 #define WPNAV_LOITER_ACTIVE_TIMEOUT_MS     200      // loiter controller is considered active if it has been called within the past 200ms (0.2 seconds)