From 99b54935db17ae8b6547c417baa6ac1362dd8831 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 2 Aug 2018 12:20:41 +0900
Subject: [PATCH] Compass: remove accumulate

this method is a noop on all backends
---
 libraries/AP_Compass/AP_Compass.cpp        | 9 ---------
 libraries/AP_Compass/AP_Compass.h          | 4 ----
 libraries/AP_Compass/AP_Compass_Backend.h  | 4 ----
 libraries/AP_Compass/AP_Compass_UAVCAN.cpp | 2 --
 4 files changed, 19 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 52d9c058e3..0135348fa4 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1017,15 +1017,6 @@ void Compass::_detect_backends(void)
     }
 }
 
-void
-Compass::accumulate(void)
-{
-    for (uint8_t i=0; i< _backend_count; i++) {
-        // call accumulate on each of the backend
-        _backends[i]->accumulate();
-    }
-}
-
 bool
 Compass::read(void)
 {
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index f87d160779..29180af86a 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -74,10 +74,6 @@ public:
     ///
     bool read();
 
-    /// use spare CPU cycles to accumulate values from the compass if
-    /// possible (this method should also be implemented in the backends)
-    void accumulate();
-
     /// Calculate the tilt-compensated heading_ variables.
     ///
     /// @param dcm_matrix			The current orientation rotation matrix
diff --git a/libraries/AP_Compass/AP_Compass_Backend.h b/libraries/AP_Compass/AP_Compass_Backend.h
index 301f28fe15..9d10dc0e1e 100644
--- a/libraries/AP_Compass/AP_Compass_Backend.h
+++ b/libraries/AP_Compass/AP_Compass_Backend.h
@@ -34,10 +34,6 @@ public:
     // read sensor data
     virtual void read(void) = 0;
 
-    // accumulate a reading from the magnetometer. Optional in
-    // backends
-    virtual void accumulate(void) {};
-
     // callback for UAVCAN messages
     virtual void handle_mag_msg(Vector3f &mag) {};
 
diff --git a/libraries/AP_Compass/AP_Compass_UAVCAN.cpp b/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
index 792c2fb602..815415450c 100644
--- a/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
+++ b/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
@@ -123,8 +123,6 @@ bool AP_Compass_UAVCAN::register_uavcan_compass(uint8_t mgr, uint8_t node)
         _sum.zero();
         _count = 0;
 
-        accumulate();
-
         debug_mag_uavcan(2, "AP_Compass_UAVCAN loaded\n\r");
 
         return true;