From 346e9e36db46b4e01cf38dedee91ccb4ab4c7901 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 2 Aug 2018 12:19:50 +0900
Subject: [PATCH] Copter: remove compass accumulate

---
 ArduCopter/ArduCopter.cpp |  4 +++-
 ArduCopter/Copter.h       |  2 +-
 ArduCopter/compassmot.cpp |  2 --
 ArduCopter/sensors.cpp    | 11 ++---------
 4 files changed, 6 insertions(+), 13 deletions(-)

diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 2a0732664e..ca2b8de545 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/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
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index d8b497b9a9..03fd54c1d2 100644
--- a/ArduCopter/Copter.h
+++ b/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);
diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index b020df599e..3f2a5e2cfa 100644
--- a/ArduCopter/compassmot.cpp
+++ b/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;
         }
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index 8b08dbf689..967a50e132 100644
--- a/ArduCopter/sensors.cpp
+++ b/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;