Copter: remove compass accumulate

ArduCopter/ArduCopter.cpp

@@ -117,7 +117,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #endif
     SCHED_TASK(three_hz_loop,          3,     75),
     SCHED_TASK_CLASS(AP_ServoRelayEvents,  &copter.ServoRelayEvents,      update_events, 50,     75),
-    SCHED_TASK(compass_accumulate,   100,    100),
     SCHED_TASK_CLASS(AP_Baro,              &copter.barometer,           accumulate,      50,  90),
 #if PRECISION_LANDING == ENABLED
     SCHED_TASK(update_precland,      400,     50),
@@ -456,6 +455,9 @@ void Copter::one_hz_loop()
     // indicates that the sensor or subsystem is present but not
     // functioning correctly
     update_sensor_status_flags();
+
+    // init compass location for declination
+    init_compass_location();
 }
 
 // called at 50hz

ArduCopter/Copter.h

@@ -862,7 +862,7 @@ private:
     bool rangefinder_alt_ok();
     void rpm_update();
     void init_compass();
-    void compass_accumulate(void);
+    void init_compass_location();
     void init_optflow();
     void update_optical_flow(void);
     void compass_cal_update(void);

ArduCopter/compassmot.cpp

@@ -137,8 +137,6 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
     while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) {
         // 50hz loop
         if (millis() - last_run_time < 20) {
-            // grab some compass values
-            compass.accumulate();
             hal.scheduler->delay(5);
             continue;
         }

ArduCopter/sensors.cpp

@@ -102,17 +102,10 @@ void Copter::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 Copter::compass_accumulate(void)
+void Copter::init_compass_location()
 {
-    if (!g.compass_enabled) {
-        return;
-    }
-
-    compass.accumulate();
-
     // update initial location used for declination
     if (!ap.compass_init_location) {
         Location loc;