From dd330885b8b9be3abe4a4171006d3b54930f48cb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 5 Jul 2013 12:53:04 +1000
Subject: [PATCH] Plane: added compass and baro accumulate functions

---
 ArduPlane/ArduPlane.pde | 22 +++++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 7aac4e8468..93a9a64aad 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -661,7 +661,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { update_compass,         5,   1500 },
     { read_airspeed,          5,   1500 },
     { read_control_switch,   15,   1000 },
-    { update_alt,             5,   3000 },
+    { update_alt,             5,   3200 },
     { calc_altitude_error,    5,   1000 },
     { update_commands,        5,   7000 },
     { update_mount,           1,   1500 },
@@ -669,6 +669,8 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { update_events,		 15,   1500 },
     { check_usb_mux,          5,   1000 },
     { read_battery,           5,   1000 },
+    { compass_accumulate,     1,   1000 },
+    { barometer_accumulate,   1,    900 },
     { one_second_loop,       50,   3000 },
     { update_logging,         5,   1000 },
     { read_receiver_rssi,     5,   1000 },
@@ -828,6 +830,24 @@ static void update_compass(void)
     }
 }
 
+/*
+  if the compass is enabled then try to accumulate a reading
+ */
+static void compass_accumulate(void)
+{
+    if (g.compass_enabled) {
+        compass.accumulate();
+    }    
+}
+
+/*
+  try to accumulate a baro reading
+ */
+static void barometer_accumulate(void)
+{
+    barometer.accumulate();
+}
+
 /*
   do 10Hz logging
  */