diff --git a/libraries/SITL/SIM_Calibration.cpp b/libraries/SITL/SIM_Calibration.cpp
index ed91a6daf8..7159e9cbfb 100644
--- a/libraries/SITL/SIM_Calibration.cpp
+++ b/libraries/SITL/SIM_Calibration.cpp
@@ -42,7 +42,7 @@ void SITL::Calibration::update(const struct sitl_input& input)
     } else if (switcher_pwm < 1300) {
         _calibration_poses(rot_accel);
     } else {
-        _attitude_control(input, rot_accel);
+        _angular_velocity_control(input, rot_accel);
     }
 
     accel_body(0, 0, 0);
@@ -108,7 +108,7 @@ void SITL::Calibration::_angular_velocity_control(const struct sitl_input& in,
     Vector3f axis{(float)(in.servos[5] - 1500),
                   (float)(in.servos[6] - 1500),
                   (float)(in.servos[7] - 1500)};
-    float theta = MAX_ANGULAR_SPEED * (in.servos[4] - 1200) / 800.f;
+    float theta = MAX_ANGULAR_SPEED * (in.servos[4] - 1300) / 700.f;
     float dt = frame_time_us * 1.0e-6f;
 
     if (axis.length() > 0) {
diff --git a/libraries/SITL/SIM_Calibration.h b/libraries/SITL/SIM_Calibration.h
index 034442fa5a..852a0e37b0 100644
--- a/libraries/SITL/SIM_Calibration.h
+++ b/libraries/SITL/SIM_Calibration.h
@@ -30,7 +30,7 @@ namespace SITL {
  * values must be in [1000, 2000], otherwise that will cause undefined
  * behavior.
  *
- * There are three control modes, that are set with PWM[4]:
+ * There are four control modes, that are set with PWM[4]:
  *
  *  1) Stop (1000 <= PWM[4] < 1100):
  *    Stop the vehicle, i.e., stop the actuation of the other modes.
@@ -43,7 +43,11 @@ namespace SITL {
  *        pwm(theta) = 1500 + 500 * round(theta / pi)
  *        where -pi <= theta <= pi
  *
- *  3) Angular Velocity (1200 <= PWM[4] <= 2000):
+ *  3) Simple autonomous compass calibration (1200 <= PWM[4] < 1300):
+ *    Move continuously the vehicle through six calibration poses and do a
+ *    rotation about each pose over a short period of time.
+ *
+ *  4) Angular Velocity (1300 <= PWM[4] <= 2000):
  *    Rotate the vehicle at a desired angular velocity. The angular velocity is
  *    specified by a rotation axis and an angular speed.
  *
@@ -55,7 +59,7 @@ namespace SITL {
  *    The angular speed value is specified by PWM[4]. The PWM value for a
  *    desired angular speed in radians/s is given by:
  *
- *        pwm(theta) = 1200 + 800 * round(theta / (2 * pi)),
+ *        pwm(theta) = 1300 + 700 * round(theta / (2 * pi)),
  *        where 0 <= theta <= 2 * pi
  */
 class Calibration : public Aircraft {