diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 38ad1dee6b..9215be35d1 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -257,19 +257,7 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
 
 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;
 
 AP_InertialSensor ins;
 
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 1bd6598250..5cbfca03f4 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -1031,12 +1031,6 @@ static void load_parameters(void)
         ahrs._kp_yaw.set_and_save(0.1);
     }
 
-    // setup different Compass learn setting for ArduCopter than the default
-    // but allow users to override in their config
-    if (!compass._learn.load()) {
-        compass._learn.set_and_save(0);
-    }
-
     if (!g.format_version.load() ||
         g.format_version != Parameters::k_format_version) {
 
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 1c5edab1a6..d43a24bc27 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -44,12 +44,6 @@
 #error CONFIG_HAL_BOARD must be defined to build ArduCopter
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// sensor types
-
-#define CONFIG_BARO     HAL_BARO_DEFAULT
-#define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
-
 //////////////////////////////////////////////////////////////////////////////
 // HIL_MODE                                 OPTIONAL
 
diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index ace519df84..b67615bf00 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -477,13 +477,13 @@ static void report_compass()
 
     // motor compensation
     cliSerial->print_P(PSTR("Motor Comp: "));
-    if( compass.motor_compensation_type() == AP_COMPASS_MOT_COMP_DISABLED ) {
+    if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_DISABLED ) {
         cliSerial->print_P(PSTR("Off\n"));
     }else{
-        if( compass.motor_compensation_type() == AP_COMPASS_MOT_COMP_THROTTLE ) {
+        if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_THROTTLE ) {
             cliSerial->print_P(PSTR("Throttle"));
         }
-        if( compass.motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
+        if( compass.get_motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
             cliSerial->print_P(PSTR("Current"));
         }
         Vector3f motor_compensation;