From c6a9130d841af2ce7bb3df359812a3e5f3c37a24 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 25 Mar 2019 20:25:22 +1100
Subject: [PATCH] Sub: call compass cal routine directly from sched table

---
 ArduSub/ArduSub.cpp | 2 +-
 ArduSub/Sub.h       | 1 -
 ArduSub/sensors.cpp | 7 -------
 3 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 06dc00a9d2..5115f4da7e 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -55,7 +55,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #if RPM_ENABLED == ENABLED
     SCHED_TASK(rpm_update,            10,    200),
 #endif
-    SCHED_TASK(compass_cal_update,   100,    100),
+    SCHED_TASK_CLASS(Compass,          &sub.compass,              cal_update, 100, 100),
     SCHED_TASK(accel_cal_update,      10,    100),
     SCHED_TASK(terrain_update,        10,    100),
 #if GRIPPER_ENABLED == ENABLED
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 2244bdf409..2d5c73949b 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -455,7 +455,6 @@ private:
     static const struct LogStructure log_structure[];
 
     void init_compass_location();
-    void compass_cal_update(void);
     void fast_loop();
     void fifty_hz_loop();
     void update_batt_compass(void);
diff --git a/ArduSub/sensors.cpp b/ArduSub/sensors.cpp
index 65154e0d7c..54c2987452 100644
--- a/ArduSub/sensors.cpp
+++ b/ArduSub/sensors.cpp
@@ -104,13 +104,6 @@ void Sub::init_optflow()
 }
 #endif      // OPTFLOW == ENABLED
 
-void Sub::compass_cal_update()
-{
-    if (!hal.util->get_soft_armed()) {
-        compass.compass_cal_update();
-    }
-}
-
 void Sub::accel_cal_update()
 {
     if (hal.util->get_soft_armed()) {