diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h
index e8d106bfac..5a75a56b89 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.h
+++ b/libraries/AP_Compass/AP_Compass_AK8963.h
@@ -35,13 +35,13 @@ public:
 
     virtual ~AP_Compass_AK8963();
 
-    bool init() override;
     void read() override;
 
 private:
     AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
                       enum Rotation rotation = ROTATION_NONE);
 
+    bool init();
     void _make_factory_sensitivity_adjustment(Vector3f &field) const;
     void _make_adc_sensitivity_adjustment(Vector3f &field) const;
 
diff --git a/libraries/AP_Compass/AP_Compass_BMM150.h b/libraries/AP_Compass/AP_Compass_BMM150.h
index fd990aa65b..de24c6d4da 100644
--- a/libraries/AP_Compass/AP_Compass_BMM150.h
+++ b/libraries/AP_Compass/AP_Compass_BMM150.h
@@ -30,7 +30,6 @@ public:
     static AP_Compass_Backend *probe(Compass &compass,
                                      AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
-    bool init() override;
     void read() override;
 
     static constexpr const char *name = "BMM150";
@@ -41,6 +40,7 @@ private:
     /**
      * Device periodic callback to read data from the sensor.
      */
+    bool init();
     bool _update();
     bool _load_trim_values();
     int16_t _compensate_xy(int16_t xy, uint32_t rhall, int32_t txy1, int32_t txy2);
diff --git a/libraries/AP_Compass/AP_Compass_Backend.h b/libraries/AP_Compass/AP_Compass_Backend.h
index 988f0bb630..84101a3966 100644
--- a/libraries/AP_Compass/AP_Compass_Backend.h
+++ b/libraries/AP_Compass/AP_Compass_Backend.h
@@ -31,9 +31,6 @@ public:
     // override with a custom destructor if need be.
     virtual ~AP_Compass_Backend(void) {}
 
-    // initialize the magnetometers
-    virtual bool init(void) = 0;
-
     // read sensor data
     virtual void read(void) = 0;
 
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.h b/libraries/AP_Compass/AP_Compass_HMC5843.h
index 2534f98706..b2c44532e3 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.h
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.h
@@ -28,13 +28,13 @@ public:
 
     virtual ~AP_Compass_HMC5843();
 
-    bool init() override;
     void read() override;
 
 private:
     AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
                        bool force_external, enum Rotation rotation);
 
+    bool init();
     bool _check_whoami();
     bool _calibrate();
     bool _setup_sampling_mode();
diff --git a/libraries/AP_Compass/AP_Compass_LSM9DS1.h b/libraries/AP_Compass/AP_Compass_LSM9DS1.h
index e204588cc8..4b814ee3dd 100644
--- a/libraries/AP_Compass/AP_Compass_LSM9DS1.h
+++ b/libraries/AP_Compass/AP_Compass_LSM9DS1.h
@@ -16,13 +16,13 @@ public:
 
     static constexpr const char *name = "LSM9DS1";
 
-    bool init() override;
     void read() override;
 
     virtual ~AP_Compass_LSM9DS1() {}
 
 private:
     AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
+    bool init();
     bool _check_id(void);
     bool _configure(void);
     bool _set_scale(void);
diff --git a/libraries/AP_Compass/AP_Compass_QURT.h b/libraries/AP_Compass/AP_Compass_QURT.h
index 193042e7bd..c0dc1af723 100644
--- a/libraries/AP_Compass/AP_Compass_QURT.h
+++ b/libraries/AP_Compass/AP_Compass_QURT.h
@@ -6,7 +6,6 @@
 class AP_Compass_QURT : public AP_Compass_Backend
 {
 public:
-    bool        init(void) override;
     void        read(void) override;
 
     AP_Compass_QURT(Compass &compass);
@@ -15,6 +14,7 @@ public:
     static AP_Compass_Backend *detect(Compass &compass);
 
 private:
+    bool        init(void);
     void timer_update(void);
 
     uint8_t  instance;