Sub: remove compass accumulate

bluerobotics · Aug 6, 2018 · 54df7ad · 54df7ad
1 parent 903d00c
commit 54df7ad
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Showing 3 changed files with 6 additions and 11 deletions.
diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
@@ -35,7 +35,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK(update_altitude,       10,    100),
     SCHED_TASK(three_hz_loop,          3,     75),
     SCHED_TASK(update_turn_counter,   10,     50),
-    SCHED_TASK(compass_accumulate,   100,    100),
     SCHED_TASK_CLASS(AP_Baro,             &sub.barometer,    accumulate,          50,  90),
     SCHED_TASK_CLASS(AP_Notify,           &sub.notify,       update,              50,  90),
     SCHED_TASK(one_hz_loop,            1,    100),
@@ -289,6 +288,9 @@ void Sub::one_hz_loop()
 
     // log terrain data
     terrain_logging();
+
+    // init compass location for declination
+    init_compass_location();
 }
 
 // called at 50hz

diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
@@ -456,7 +456,7 @@ class Sub : public AP_HAL::HAL::Callbacks {
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
 
-    void compass_accumulate(void);
+    void init_compass_location();
     void compass_cal_update(void);
     void fast_loop();
     void fifty_hz_loop();

diff --git a/ArduSub/sensors.cpp b/ArduSub/sensors.cpp
@@ -93,17 +93,10 @@ void Sub::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 Sub::compass_accumulate()
+void Sub::init_compass_location()
 {
-    if (!g.compass_enabled) {
-        return;
-    }
-
-    compass.accumulate();
-
     // update initial location used for declination
     if (!ap.compass_init_location) {
         Location loc;