ArduCopter: run prearm checks on all vehicles @1Hz, displaying @0.0333Hz

ArduCopter/AP_Arming.cpp

@@ -4,22 +4,6 @@
  #include <AP_ToshibaCAN/AP_ToshibaCAN.h>
 #endif
 
-// performs pre-arm checks. expects to be called at 1hz.
-void AP_Arming_Copter::update(void)
-{
-    // perform pre-arm checks & display failures every 30 seconds
-    static uint8_t pre_arm_display_counter = PREARM_DISPLAY_PERIOD/2;
-    pre_arm_display_counter++;
-    bool display_fail = false;
-    if ((_arming_options & uint32_t(AP_Arming::ArmingOptions::DISABLE_PREARM_DISPLAY)) == 0 &&
-        pre_arm_display_counter >= PREARM_DISPLAY_PERIOD) {
-        display_fail = true;
-        pre_arm_display_counter = 0;
-    }
-
-    pre_arm_checks(display_fail);
-}
-
 bool AP_Arming_Copter::pre_arm_checks(bool display_failure)
 {
     const bool passed = run_pre_arm_checks(display_failure);

ArduCopter/AP_Arming.h

@@ -19,8 +19,6 @@ public:
     AP_Arming_Copter(const AP_Arming_Copter &other) = delete;
     AP_Arming_Copter &operator=(const AP_Arming_Copter&) = delete;
 
-    void update(void);
-
     bool rc_calibration_checks(bool display_failure) override;
 
     bool disarm(AP_Arming::Method method, bool do_disarm_checks=true) override;

ArduCopter/Copter.cpp

@@ -581,8 +581,6 @@ void Copter::one_hz_loop()
         Log_Write_Data(LogDataID::AP_STATE, ap.value);
     }
 
-    arming.update();
-
     if (!motors->armed()) {
         // make it possible to change ahrs orientation at runtime during initial config
         ahrs.update_orientation();

ArduCopter/config.h

@@ -145,10 +145,6 @@
  #define FS_TERRAIN_TIMEOUT_MS          5000     // 5 seconds of missing terrain data will trigger failsafe (RTL)
 #endif
 
-#ifndef PREARM_DISPLAY_PERIOD
-# define PREARM_DISPLAY_PERIOD 30
-#endif
-
 // pre-arm baro vs inertial nav max alt disparity
 #ifndef PREARM_MAX_ALT_DISPARITY_CM
  # define PREARM_MAX_ALT_DISPARITY_CM       100     // barometer and inertial nav altitude must be within this many centimeters