AP_Baro: remove Baro accumulate API

no backend actually needs to be prodded, everything is done on timers

libraries/AP_Baro/AP_Baro.cpp

@@ -1043,16 +1043,6 @@ void AP_Baro::update_field_elevation(void)
 #endif
 }
 
-/*
-  call accumulate on all drivers
- */
-void AP_Baro::accumulate(void)
-{
-    for (uint8_t i=0; i<_num_drivers; i++) {
-        drivers[i]->accumulate();
-    }
-}
-
 
 /* register a new sensor, claiming a sensor slot. If we are out of
    slots it will panic

libraries/AP_Baro/AP_Baro.h

@@ -87,10 +87,6 @@ public:
     // get pressure correction in Pascal. Divide by 100 for millibars or hectopascals
     float get_pressure_correction(void) const { return get_pressure_correction(_primary); }
     float get_pressure_correction(uint8_t instance) const { return sensors[instance].p_correction; }
-    
-    // accumulate a reading on sensors. Some backends without their
-    // own thread or a timer may need this.
-    void accumulate(void);
 
     // calibrate the barometer. This must be called on startup if the
     // altitude/climb_rate/acceleration interfaces are ever used

libraries/AP_Baro/AP_Baro_Backend.h

@@ -12,11 +12,6 @@ public:
     // data to the frontend
     virtual void update() = 0;
 
-    // accumulate function. This is used for backends that don't use a
-    // timer, and need to be called regularly by the main code to
-    // trigger them to read the sensor
-    virtual void accumulate(void) {}
-
     void backend_update(uint8_t instance);
 
     //  Check that the baro valid by using a mean filter.

libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp

@@ -33,7 +33,6 @@ static AP_Baro barometer;
 #endif // HAL_EXTERNAL_AHRS_ENABLED
 
 static uint32_t timer;
-static uint8_t counter;
 static AP_BoardConfig board_config;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@@ -69,14 +68,9 @@ void loop()
         return;
     }
 
-    // run accumulate() at 50Hz and update() at 10Hz
-    if ((AP_HAL::micros() - timer) > 20 * 1000UL) {
+    // run update() at 10Hz
+    if ((AP_HAL::micros() - timer) > 100 * 1000UL) {
         timer = AP_HAL::micros();
-        barometer.accumulate();
-        if (counter++ < 5) {
-            return;
-        }
-        counter = 0;
         barometer.update();
 
         //calculate time taken for barometer readings to update