From ea2de1c11a5323c6b0ef08751b31df89910512ed Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Apr 2019 17:13:52 +1000
Subject: [PATCH] Rover: allow GCS MAVLink base class to handle out-of-time for
 sending messages

---
 APMrover2/GCS_Mavlink.cpp | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 169133fba3..6ee7a4ec08 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -315,16 +315,6 @@ bool GCS_Rover::vehicle_initialised() const
 // try to send a message, return false if it won't fit in the serial tx buffer
 bool GCS_MAVLINK_Rover::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() &&
-        rover.scheduler.time_available_usec() < 200) {
-        gcs().set_out_of_time(true);
-        return false;
-    }
-
     switch (id) {
 
     case MSG_SERVO_OUT: