diff --git a/AntennaTracker/AntennaTracker.pde b/AntennaTracker/AntennaTracker.pde
index 2e07e0b5ab..339ef6f571 100644
--- a/AntennaTracker/AntennaTracker.pde
+++ b/AntennaTracker/AntennaTracker.pde
@@ -120,19 +120,7 @@ static AP_GPS gps;
 
 static AP_Baro barometer;
 
-#if CONFIG_COMPASS == HAL_COMPASS_PX4
-static AP_Compass_PX4 compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
-static AP_Compass_VRBRAIN compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
-static AP_Compass_HMC5843 compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_HIL
-static AP_Compass_HIL compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
-static AP_Compass_AK8963_MPU9250 compass;
-#else
- #error Unrecognized CONFIG_COMPASS setting
-#endif
+static Compass compass;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 apm1_adc;
diff --git a/AntennaTracker/config.h b/AntennaTracker/config.h
index 4960dd6136..933c40d5b6 100644
--- a/AntennaTracker/config.h
+++ b/AntennaTracker/config.h
@@ -17,9 +17,6 @@
 #define ENABLE ENABLED
 #define DISABLE DISABLED
 
-#define CONFIG_BARO     HAL_BARO_DEFAULT
-#define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
-
 #ifndef MAV_SYSTEM_ID
  // use 2 for antenna tracker by default
  # define MAV_SYSTEM_ID          2