Tracker: move automatic declination setting into AP_Compass itself

TForce1 · Aug 13, 2019 · 2428487 · 2428487
1 parent 9d54b48
commit 2428487
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Showing 3 changed files with 0 additions and 24 deletions.
diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
@@ -97,9 +97,6 @@ void Tracker::one_second_loop()
     // updated armed/disarmed status LEDs
     update_armed_disarmed();
 
-    // init compass location for declination
-    init_compass_location();
-
     if (!ahrs.home_is_set()) {
         // set home to current location
         Location temp_loc;

diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
@@ -248,7 +248,6 @@ class Tracker : public AP_HAL::HAL::Callbacks {
     // sensors.cpp
     void update_ahrs();
     void compass_save();
-    void init_compass_location();
     void update_compass(void);
     void accel_cal_update(void);
     void update_GPS(void);

diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
@@ -8,21 +8,6 @@ void Tracker::update_ahrs()
     ahrs.update();
 }
 
-/*
-  initialise compass's location used for declination
- */
-void Tracker::init_compass_location(void)
-{
-    // update initial location used for declination
-    if (!compass_init_location) {
-        Location loc;
-        if (ahrs.get_position(loc)) {
-            compass.set_initial_location(loc.lat, loc.lng);
-            compass_init_location = true;
-        }
-    }
-}
-
 /*
   read and update compass
  */
@@ -85,11 +70,6 @@ void Tracker::update_GPS(void)
                 if (!set_home(current_loc)) {
                     // silently ignored
                 }
-
-                if (AP::compass().enabled()) {
-                    // Set compass declination automatically
-                    compass.set_initial_location(gps.location().lat, gps.location().lng);
-                }
                 ground_start_count = 0;
             }
         }