From 2428487383c8f07a7ac2386e730b7c04461a1d60 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 27 Mar 2019 18:01:43 +1100
Subject: [PATCH] Tracker: move automatic declination setting into AP_Compass
 itself

---
 AntennaTracker/AntennaTracker.cpp |  3 ---
 AntennaTracker/Tracker.h          |  1 -
 AntennaTracker/sensors.cpp        | 20 --------------------
 3 files changed, 24 deletions(-)

diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index 21490bb96a..7d7c60e447 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -97,9 +97,6 @@ void Tracker::one_second_loop()
     // updated armed/disarmed status LEDs
     update_armed_disarmed();
 
-    // init compass location for declination
-    init_compass_location();
-
     if (!ahrs.home_is_set()) {
         // set home to current location
         Location temp_loc;
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 6f51a9901a..fc61d78014 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -248,7 +248,6 @@ private:
     // sensors.cpp
     void update_ahrs();
     void compass_save();
-    void init_compass_location();
     void update_compass(void);
     void accel_cal_update(void);
     void update_GPS(void);
diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
index 4b5126ae7a..5e7acef335 100644
--- a/AntennaTracker/sensors.cpp
+++ b/AntennaTracker/sensors.cpp
@@ -8,21 +8,6 @@ void Tracker::update_ahrs()
     ahrs.update();
 }
 
-/*
-  initialise compass's location used for declination
- */
-void Tracker::init_compass_location(void)
-{
-    // update initial location used for declination
-    if (!compass_init_location) {
-        Location loc;
-        if (ahrs.get_position(loc)) {
-            compass.set_initial_location(loc.lat, loc.lng);
-            compass_init_location = true;
-        }
-    }
-}
-
 /*
   read and update compass
  */
@@ -85,11 +70,6 @@ void Tracker::update_GPS(void)
                 if (!set_home(current_loc)) {
                     // silently ignored
                 }
-
-                if (AP::compass().enabled()) {
-                    // Set compass declination automatically
-                    compass.set_initial_location(gps.location().lat, gps.location().lng);
-                }
                 ground_start_count = 0;
             }
         }