From 54df7ad88d0ad6b805738f4a8302603cdbe09582 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 2 Aug 2018 12:20:17 +0900
Subject: [PATCH] Sub: remove compass accumulate

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

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index c8fcb8427f3a5..431da775360ce 100644
--- 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
index f0cc5d643cc3a..88b52e2887fa9 100644
--- 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
index b627ee751df23..75543e54fed21 100644
--- 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;