diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 3be4687e75..50d62531d2 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -123,7 +123,7 @@ public:
     const Vector3f &get_field(void) const { return get_field(get_primary()); }
 
     // compass calibrator interface
-    void compass_cal_update();
+    void cal_update();
 
     // per-motor calibration access
     void per_motor_calibration_start(void) {
diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp
index e0ff65cf64..a9ff73d5d5 100644
--- a/libraries/AP_Compass/AP_Compass_Calibration.cpp
+++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@@ -7,8 +7,12 @@
 extern AP_HAL::HAL& hal;
 
 void
-Compass::compass_cal_update()
+Compass::cal_update()
 {
+    if (hal.util->get_soft_armed()) {
+        return;
+    }
+
     bool running = false;
 
     for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {