From 565df5ec94450511d60299fa425dbfaa48a37119 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.de.marchi@gmail.com>
Date: Fri, 28 Sep 2018 11:08:52 -0700
Subject: [PATCH] AP_Compass: AK09916: use common method to accumulate samples

---
 libraries/AP_Compass/AP_Compass_AK09916.cpp | 32 ++-------------------
 libraries/AP_Compass/AP_Compass_AK09916.h   |  2 --
 2 files changed, 2 insertions(+), 32 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_AK09916.cpp b/libraries/AP_Compass/AP_Compass_AK09916.cpp
index 7efe4ddb17..5b6f82fd85 100644
--- a/libraries/AP_Compass/AP_Compass_AK09916.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK09916.cpp
@@ -228,20 +228,7 @@ void AP_Compass_AK09916::timer()
 
     field(data.magx * range_scale, data.magy * range_scale, data.magz * range_scale);
 
-    /* rotate raw_field from sensor frame to body frame */
-    rotate_field(field, compass_instance);
-
-    /* publish raw_field (uncorrected point sample) for calibration use */
-    publish_raw_field(field, compass_instance);
-
-    /* correct raw_field for known errors */
-    correct_field(field, compass_instance);
-
-    if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
-        accum += field;
-        accum_count++;
-        _sem->give();
-    }
+    accumulate_sample(field, compass_instance);
 
 check_registers:
     dev->check_next_register();
@@ -249,20 +236,5 @@ check_registers:
 
 void AP_Compass_AK09916::read()
 {
-    if (!_sem->take_nonblocking()) {
-        return;
-    }
-    if (accum_count == 0) {
-        _sem->give();
-        return;
-    }
-
-    accum /= accum_count;
-
-    publish_filtered_field(accum, compass_instance);
-
-    accum.zero();
-    accum_count = 0;
-    
-    _sem->give();
+    drain_accumulated_samples(compass_instance);
 }
diff --git a/libraries/AP_Compass/AP_Compass_AK09916.h b/libraries/AP_Compass/AP_Compass_AK09916.h
index 0656949582..8dc63f4f25 100644
--- a/libraries/AP_Compass/AP_Compass_AK09916.h
+++ b/libraries/AP_Compass/AP_Compass_AK09916.h
@@ -70,8 +70,6 @@ private:
     void timer();
 
     uint8_t compass_instance;
-    Vector3f accum;
-    uint16_t accum_count;
     bool force_external;
     enum Rotation rotation;
 };