From beaebe4d0b8b21c98dc1bda1ad531d91a9a52156 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 4 Jun 2022 11:15:03 -0400
Subject: [PATCH] sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX

---
 src/modules/sensors/vehicle_imu/VehicleIMU.cpp | 3 +--
 src/modules/sensors/vehicle_imu/VehicleIMU.hpp | 1 -
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
index 12d1f1a637..ab639bde06 100644
--- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
@@ -146,8 +146,7 @@ bool VehicleIMU::ParametersUpdate(bool force)
 		}
 
 		// constrain IMU integration time 1-20 milliseconds (50-1000 Hz)
-		int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
-						  (int32_t)50, math::min(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
+		const int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(), (int32_t)50, (int32_t)1000);
 
 		if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
 			PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);
diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.hpp b/src/modules/sensors/vehicle_imu/VehicleIMU.hpp
index 2caf491b21..896a0a385f 100644
--- a/src/modules/sensors/vehicle_imu/VehicleIMU.hpp
+++ b/src/modules/sensors/vehicle_imu/VehicleIMU.hpp
@@ -186,7 +186,6 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::IMU_INTEG_RATE>) _param_imu_integ_rate,
-		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_ratemax,
 		(ParamBool<px4::params::SENS_IMU_AUTOCAL>) _param_sens_imu_autocal
 	)
 };