From 936dca75314e63d02debb78260d2e3c6770a0156 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 2 Aug 2018 12:19:20 +0900
Subject: [PATCH] Rover: remove compass accumulate

---
 APMrover2/APMrover2.cpp |  4 +++-
 APMrover2/Rover.h       |  2 +-
 APMrover2/sensors.cpp   | 11 ++---------
 3 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 790a977205..ece8f9f75c 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -74,7 +74,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #endif
     SCHED_TASK(gcs_failsafe_check,     10,    200),
     SCHED_TASK(fence_check,            10,    200),
-    SCHED_TASK(compass_accumulate,     50,    200),
     SCHED_TASK_CLASS(ModeSmartRTL,        &rover.mode_smartrtl,    save_position,   3,  200),
     SCHED_TASK_CLASS(AP_Notify,           &rover.notify,           update,         50,  300),
     SCHED_TASK(one_second_loop,         1,   1500),
@@ -291,6 +290,9 @@ void Rover::one_second_loop(void)
         update_home();
     }
 
+    // init compass location for declination
+    init_compass_location();
+
     // update error mask of sensors and subsystems. The mask uses the
     // MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
     // indicates that the sensor or subsystem is present but not
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index e179359f56..6b8786f76f 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -492,7 +492,7 @@ private:
 
     // sensors.cpp
     void init_compass(void);
-    void compass_accumulate(void);
+    void init_compass_location(void);
     void init_beacon();
     void init_visual_odom();
     void update_visual_odom();
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index 9ac8b47435..fc953f1ac5 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -18,17 +18,10 @@ void Rover::init_compass()
 }
 
 /*
-  if the compass is enabled then try to accumulate a reading
-  also update initial location used for declination
+  initialise compass's location used for declination
  */
-void Rover::compass_accumulate(void)
+void Rover::init_compass_location(void)
 {
-    if (!g.compass_enabled) {
-        return;
-    }
-
-    compass.accumulate();
-
     // update initial location used for declination
     if (!compass_init_location) {
         Location loc;