diff --git a/libraries/AP_Notify/AP_Notify.h b/libraries/AP_Notify/AP_Notify.h
index ca431e3162..1088dd9271 100644
--- a/libraries/AP_Notify/AP_Notify.h
+++ b/libraries/AP_Notify/AP_Notify.h
@@ -76,6 +76,7 @@ public:
         uint16_t initiated_compass_cal  : 1;    // 1 when user input to begin compass cal was accepted
         uint16_t compass_cal_saved      : 1;    // 1 when compass calibration was just saved
         uint16_t compass_cal_failed     : 1;    // 1 when compass calibration has just failed
+        uint16_t compass_cal_canceled   : 1;    // 1 when compass calibration was just canceled
     };
 
     // the notify flags are static to allow direct class access
diff --git a/libraries/AP_Notify/ToneAlarm_PX4.cpp b/libraries/AP_Notify/ToneAlarm_PX4.cpp
index b2ea4435cf..952cf91922 100644
--- a/libraries/AP_Notify/ToneAlarm_PX4.cpp
+++ b/libraries/AP_Notify/ToneAlarm_PX4.cpp
@@ -146,6 +146,11 @@ void ToneAlarm_PX4::update()
     }
     flags.compass_cal_running = AP_Notify::flags.compass_cal_running;
 
+    if (AP_Notify::events.compass_cal_canceled) {
+        play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
+        return;
+    }
+
     if (AP_Notify::events.initiated_compass_cal) {
         play_tone(AP_NOTIFY_PX4_TONE_QUIET_NEU_FEEDBACK);
         return;