diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index d47f3dbbee..71a32689ea 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1440,12 +1440,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
             plane.autotune_enable(!is_zero(packet.param1));
             break;
 
-        case MAV_CMD_DO_START_MAG_CAL:
-        case MAV_CMD_DO_ACCEPT_MAG_CAL:
-        case MAV_CMD_DO_CANCEL_MAG_CAL:
-            result = plane.compass.handle_mag_cal_command(packet);
-            break;
-
 #if PARACHUTE == ENABLED
         case MAV_CMD_DO_PARACHUTE:
             // configure or release parachute
@@ -2019,6 +2013,11 @@ bool GCS_MAVLINK_Plane::accept_packet(const mavlink_status_t &status, mavlink_me
     return (msg.sysid == plane.g.sysid_my_gcs);
 }
 
+Compass *GCS_MAVLINK_Plane::get_compass() const
+{
+    return &plane.compass;
+}
+
 AP_Mission *GCS_MAVLINK_Plane::get_mission()
 {
     return &plane.mission;
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 497b91ff43..6635c268dd 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -21,6 +21,7 @@ protected:
     AP_Mission *get_mission() override;
     void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
 
+    Compass *get_compass() const override;
     AP_ServoRelayEvents *get_servorelayevents() const override;
     AP_Rally *get_rally() const override;