diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 66e2bc0ff4..f08a63e81c 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -39,7 +39,7 @@
 #define COMPASS_MOT_ENABLED 1
 #endif
 #ifndef COMPASS_LEARN_ENABLED
-#define COMPASS_LEARN_ENABLED 1
+#define COMPASS_LEARN_ENABLED AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
 #endif
 
 // define default compass calibration fitness and consistency checks
@@ -342,12 +342,14 @@ public:
 
     uint8_t get_filter_range() const { return uint8_t(_filter_range.get()); }
 
+#if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
     /*
       fast compass calibration given vehicle position and yaw
      */
-    MAV_RESULT mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
-                                 float lat_deg, float lon_deg,
-                                 bool force_use=false);
+    bool mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
+                           float lat_deg, float lon_deg,
+                           bool force_use=false);
+#endif
 
 #if AP_COMPASS_MSP_ENABLED
     void handle_msp(const MSP::msp_compass_data_message_t &pkt);
@@ -405,12 +407,14 @@ private:
     // see if we already have probed a i2c driver by bus number and address
     bool _have_i2c_driver(uint8_t bus_num, uint8_t address) const;
 
+#if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
     /*
       get mag field with the effects of offsets, diagonals and
       off-diagonals removed
     */
     bool get_uncorrected_field(uint8_t instance, Vector3f &field) const;
-    
+#endif
+
 #if COMPASS_CAL_ENABLED
     //keep track of which calibrators have been saved
     RestrictIDTypeArray<bool, COMPASS_MAX_INSTANCES, Priority> _cal_saved;
diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp
index d573888c77..b8c498483a 100644
--- a/libraries/AP_Compass/AP_Compass_Calibration.cpp
+++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@@ -504,7 +504,7 @@ bool Compass::get_uncorrected_field(uint8_t instance, Vector3f &field) const
 
   This assumes that the compass is correctly scaled in milliGauss
 */
-MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
+bool Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
                                       float lat_deg, float lon_deg, bool force_use)
 {
     _reset_compass_id();
@@ -514,7 +514,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
         if (!AP::ahrs().get_location(loc)) {
             if (AP::gps().status() < AP_GPS::GPS_OK_FIX_3D) {
                 GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag: no position available");
-                return MAV_RESULT_FAILED;
+                return false;
             }
             loc = AP::gps().location();
         }
@@ -528,7 +528,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
     float inclination;
     if (!AP_Declination::get_mag_field_ef(lat_deg, lon_deg, intensity, declination, inclination)) {
         GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag: WMM table error");
-        return MAV_RESULT_FAILED;
+        return false;
     }
 
     // create a field vector and rotate to the required orientation
@@ -553,13 +553,13 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
         }
         if (!healthy(i)) {
             GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag[%u]: unhealthy\n", i);
-            return MAV_RESULT_FAILED;
+            return false;
         }
 
         Vector3f measurement;
         if (!get_uncorrected_field(i, measurement)) {
             GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag[%u]: bad uncorrected field", i);
-            return MAV_RESULT_FAILED;
+            return false;
         }
 
         Vector3f offsets = field - measurement;
@@ -572,7 +572,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
 #endif
     }
 
-    return MAV_RESULT_ACCEPTED;
+    return true;
 }
 
 #endif  // AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index ce8989f2be..df53675ea8 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -19,7 +19,7 @@
 #endif
 
 #ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
-#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_GPS_ENABLED
+#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED
 #endif
 
 #define COMPASS_MAX_SCALE_FACTOR 1.5
diff --git a/libraries/AP_Compass/Compass_learn.cpp b/libraries/AP_Compass/Compass_learn.cpp
index fe57f712e4..12861e3fe2 100644
--- a/libraries/AP_Compass/Compass_learn.cpp
+++ b/libraries/AP_Compass/Compass_learn.cpp
@@ -60,8 +60,8 @@ void CompassLearn::update(void)
         return;
     }
 
-    const auto result = compass.mag_cal_fixed_yaw(degrees(yaw_rad), (1U<<HAL_COMPASS_MAX_SENSORS)-1, 0, 0, true);
-    if (result == MAV_RESULT_ACCEPTED) {
+    const bool result = compass.mag_cal_fixed_yaw(degrees(yaw_rad), (1U<<HAL_COMPASS_MAX_SENSORS)-1, 0, 0, true);
+    if (result) {
         AP_Notify::flags.compass_cal_running = false;
         compass.set_learn_type(Compass::LEARN_NONE, true);
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CompassLearn: Finished");