diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index 7b1477c950..3f99c89f30 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -49,7 +49,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins,       periodic,       50,   50),
     SCHED_TASK_CLASS(AP_Notify,         &tracker.notify,    update,         50,  100),
     SCHED_TASK(one_second_loop,         1,   3900),
-    SCHED_TASK(compass_cal_update,     50,    100),
+    SCHED_TASK_CLASS(Compass,          &tracker.compass,              cal_update, 50, 100),
     SCHED_TASK(accel_cal_update,       10,    100)
 };
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 14dc9be341..de86802056 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -247,7 +247,6 @@ private:
     void compass_save();
     void init_compass_location();
     void update_compass(void);
-    void compass_cal_update();
     void accel_cal_update(void);
     void update_GPS(void);
     void handle_battery_failsafe(const char* type_str, const int8_t action);
diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
index 1da7b72b80..0e915be2ac 100644
--- a/AntennaTracker/sensors.cpp
+++ b/AntennaTracker/sensors.cpp
@@ -36,15 +36,6 @@ void Tracker::update_compass(void)
     }
 }
 
-/*
- calibrate compass
-*/
-void Tracker::compass_cal_update() {
-    if (!hal.util->get_soft_armed()) {
-        compass.compass_cal_update();
-    }
-}
-
 // Save compass offsets
 void Tracker::compass_save() {
     if (AP::compass().enabled() &&