From 6bab28397ac2933a5711ed660b212a9ad8da7935 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Mon, 31 Jul 2017 12:29:43 -0700
Subject: [PATCH] AP_Compass: remove user of timesliced logic

---
 libraries/AP_Compass/AP_Compass_AK8963.cpp | 7 +++----
 libraries/AP_Compass/AP_Compass_AK8963.h   | 1 -
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index e5cdaa3e49..9c61933dcc 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -170,7 +170,7 @@ bool AP_Compass_AK8963::init()
     /* timer needs to be called every 10ms so set the freq_div to 10 */
     if (!_bus->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void))) {
         // fallback to timer
-        _timesliced = hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update_timer, void), 10);
+        hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update_timer, void));
     }
 
     return true;
@@ -272,7 +272,7 @@ void AP_Compass_AK8963::_update_timer()
 {
     uint32_t now = AP_HAL::micros();
 
-    if (!_timesliced && now - _last_update_timestamp < 10000) {
+    if (now - _last_update_timestamp < 10000) {
         return;
     }
 
@@ -281,9 +281,8 @@ void AP_Compass_AK8963::_update_timer()
     }
 
     _update();
-    
     _last_update_timestamp = now;
-    
+
     _bus->get_semaphore()->give();
 }
 
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h
index 518351ee42..49e798a0a6 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.h
+++ b/libraries/AP_Compass/AP_Compass_AK8963.h
@@ -64,7 +64,6 @@ private:
 
     uint8_t _compass_instance;
     bool _initialized;
-    bool _timesliced;
     enum Rotation _rotation;
 };