diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 60437489b4..87140b193f 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -403,6 +403,10 @@ void NavEKF2_core::getMagXYZ(Vector3f &magXYZ) const
 // return true if offsets are valid
 bool NavEKF2_core::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
 {
+    if (!_ahrs->get_compass()) {
+        return false;
+    }
+
     // compass offsets are valid if we have finalised magnetic field initialisation, magnetic field learning is not prohibited,
     // primary compass is valid and state variances have converged
     const float maxMagVar = 5E-6f;