diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index 6c5ac40453..140c5461ac 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -41,7 +41,6 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Baro,          &tracker.barometer,  update,         10,   1500),
     SCHED_TASK(gcs_update,             50,   1700),
     SCHED_TASK(gcs_data_stream_send,   50,   3000),
-    SCHED_TASK(compass_accumulate,     50,   1500),
     SCHED_TASK_CLASS(AP_Baro,           &tracker.barometer, accumulate,     50,  900),
     SCHED_TASK(ten_hz_logging_loop,    10,    300),
 #if LOGGING_ENABLED == ENABLED
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index f738d7e544..64283c6ab4 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -213,7 +213,6 @@ private:
     void read_radio();
     void update_ahrs();
     void update_compass(void);
-    void compass_accumulate(void);
     void accel_cal_update(void);
     void update_GPS(void);
     void init_servos();
diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
index ad29b72585..c1ad696d26 100644
--- a/AntennaTracker/sensors.cpp
+++ b/AntennaTracker/sensors.cpp
@@ -22,16 +22,6 @@ void Tracker::update_compass(void)
     }
 }
 
-/*
-  if the compass is enabled then try to accumulate a reading
- */
-void Tracker::compass_accumulate(void)
-{
-    if (g.compass_enabled) {
-        compass.accumulate();
-    }    
-}
-
 /*
  calibrate compass
 */