From 15f98e6cdbb54eeac476998da91b61db2d39607d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 28 Jul 2026 16:21:42 +1000
Subject: [PATCH] ArduSub: remove EKF compass offset saving from disarm

This is now done for all vehicles by AP_Arming::disarm().

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
---
 ArduSub/AP_Arming_Sub.cpp | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/ArduSub/AP_Arming_Sub.cpp b/ArduSub/AP_Arming_Sub.cpp
index 517ef256599..8c627b01dab 100644
--- a/ArduSub/AP_Arming_Sub.cpp
+++ b/ArduSub/AP_Arming_Sub.cpp
@@ -179,18 +179,6 @@ bool AP_Arming_Sub::disarm(const AP_Arming::Method method, bool do_disarm_checks
 
     send_arm_disarm_statustext("Disarming motors");
 
-    auto &ahrs = AP::ahrs();
-
-    // save compass offsets learned by the EKF if enabled
-    if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LearnType::COPY_FROM_EKF) {
-        for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
-            Vector3f magOffsets;
-            if (ahrs.getMagOffsets(i, magOffsets)) {
-                AP::compass().set_and_save_offsets(i, magOffsets);
-            }
-        }
-    }
-
     // send disarm command to motors
     sub.motors.armed(false);