From 03e60653806755a6c7aae36bfeb6a3750ed0e900 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 27 Mar 2019 18:02:24 +1100
Subject: [PATCH] Sub: move automatic declination setting into AP_Compass
 itself

---
 ArduSub/ArduSub.cpp |  3 ---
 ArduSub/Sub.h       |  1 -
 ArduSub/sensors.cpp | 15 ---------------
 3 files changed, 19 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 6cf098de28..07042491df 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -284,9 +284,6 @@ void Sub::one_hz_loop()
     // log terrain data
     terrain_logging();
 
-    // init compass location for declination
-    init_compass_location();
-
     // need to set "likely flying" when armed to allow for compass
     // learning to run
     ahrs.set_likely_flying(hal.util->get_soft_armed());
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index fd8962abcd..efae5a19c0 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -454,7 +454,6 @@ private:
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
 
-    void init_compass_location();
     void fast_loop();
     void fifty_hz_loop();
     void update_batt_compass(void);
diff --git a/ArduSub/sensors.cpp b/ArduSub/sensors.cpp
index 54c2987452..830b14b3be 100644
--- a/ArduSub/sensors.cpp
+++ b/ArduSub/sensors.cpp
@@ -80,21 +80,6 @@ void Sub::rpm_update(void)
 }
 #endif
 
-/*
-  initialise compass's location used for declination
- */
-void Sub::init_compass_location()
-{
-    // update initial location used for declination
-    if (!ap.compass_init_location) {
-        Location loc;
-        if (ahrs.get_position(loc)) {
-            compass.set_initial_location(loc.lat, loc.lng);
-            ap.compass_init_location = true;
-        }
-    }
-}
-
 // initialise optical flow sensor
 #if OPTFLOW == ENABLED
 void Sub::init_optflow()