diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index cafc09c498..507302c40d 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -687,11 +687,6 @@ void Compass::_detect_backends(void)
 
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
     ADD_BACKEND(DRIVER_QFLIGHT, AP_Compass_QURT::detect(*this), nullptr, false);
-#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RASPILOT
-    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
-                AP_Compass_HMC5843::name, true);
-    ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")),
-                AP_Compass_LSM303D::name, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
     ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
                 AP_Compass_HMC5843::name, false);
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 9277b7ef45..b9b9855a7f 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -18,9 +18,7 @@
 #define AP_COMPASS_MOT_COMP_CURRENT     0x02
 
 // setup default mag orientation for some board types
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
-# define MAG_BOARD_ORIENTATION ROTATION_ROLL_180
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
 # define MAG_BOARD_ORIENTATION ROTATION_YAW_90
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI)
diff --git a/libraries/AP_Compass/AP_Compass_LSM303D.cpp b/libraries/AP_Compass/AP_Compass_LSM303D.cpp
index c2ab484dd1..94ff18f9a3 100644
--- a/libraries/AP_Compass/AP_Compass_LSM303D.cpp
+++ b/libraries/AP_Compass/AP_Compass_LSM303D.cpp
@@ -23,9 +23,6 @@ extern const AP_HAL::HAL &hal;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <AP_HAL_Linux/GPIO.h>
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
-#define LSM303D_DRDY_M_PIN RPI_GPIO_27
-#endif
 #endif
 
 #ifndef LSM303D_DRDY_M_PIN
@@ -278,11 +275,6 @@ bool AP_Compass_LSM303D::init(enum Rotation rotation)
     _dev->set_device_type(DEVTYPE_LSM303D);
     set_dev_id(_compass_instance, _dev->get_bus_id());
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
-    // FIXME: wrong way to force internal compass
-    set_external(_compass_instance, false);
-#endif
-
     // read at 100Hz
     _dev->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_LSM303D::_update, void));