From 4fa83ed40deed8dbaa1c738406e226c0d268add9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 27 Mar 2019 18:02:01 +1100
Subject: [PATCH] Copter: move automatic declination setting into AP_Compass
 itself

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

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 6e804c8dce..f73dfad45c 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -454,9 +454,6 @@ void Copter::one_hz_loop()
     // indicates that the sensor or subsystem is present but not
     // functioning correctly
     gcs().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 42216d16cc..681931c380 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -825,7 +825,6 @@ private:
     void read_rangefinder(void);
     bool rangefinder_alt_ok();
     void rpm_update();
-    void init_compass_location();
     void init_optflow();
     void update_optical_flow(void);
     void compass_cal_update(void);
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index 07e899320d..11a756b861 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -85,21 +85,6 @@ void Copter::rpm_update(void)
 #endif
 }
 
-/*
-  initialise compass's location used for declination
- */
-void Copter::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
 void Copter::init_optflow()
 {