diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index 5f8228b1af..018f55afa3 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -567,9 +567,8 @@ bool NavEKF3_core::use_compass(void) const
         return false;
     }
 
-    const auto *compass = dal.get_compass();
-    return compass &&
-           compass->use_for_yaw(magSelectIndex) &&
+    const auto &compass = dal.compass();
+    return compass.use_for_yaw(magSelectIndex) &&
            !allMagSensorsFailed;
 }
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index c5261b30f2..a30edb9f48 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -283,13 +283,13 @@ void NavEKF3_core::tryChangeCompass(void)
 // check for new magnetometer data and update store measurements if available
 void NavEKF3_core::readMagData()
 {
-    if (!dal.get_compass()) {
+    const auto &compass = dal.compass();
+
+    if (!compass.available()) {
         allMagSensorsFailed = true;
         return;        
     }
 
-    const auto &compass = dal.compass();
-
     // If we are a vehicle with a sideslip constraint to aid yaw estimation and we have timed out on our last avialable
     // magnetometer, then declare the magnetometers as failed for this flight
     const uint8_t maxCount = compass.get_count();
@@ -678,8 +678,9 @@ void NavEKF3_core::readGpsData()
     }
 
     if (gpsGoodToAlign && !have_table_earth_field) {
-        const auto *compass = dal.get_compass();
-        if (compass && compass->have_scale_factor(magSelectIndex) && compass->auto_declination_enabled()) {
+        const auto &compass = dal.compass();
+        if (compass.have_scale_factor(magSelectIndex) &&
+            compass.auto_declination_enabled()) {
             getEarthFieldTable(gpsloc);
             if (frontend->_mag_ef_limit > 0) {
                 // initialise earth field from tables
@@ -1139,15 +1140,12 @@ void NavEKF3_core::update_gps_selection(void)
  */
 void NavEKF3_core::update_mag_selection(void)
 {
-    const auto *compass = dal.get_compass();
-    if (compass == nullptr) {
-        return;
-    }
+    const auto &compass = dal.compass();
 
     if (frontend->_affinity & EKF_AFFINITY_MAG) {
-        if (core_index < compass->get_count() &&
-            compass->healthy(core_index) &&
-            compass->use_for_yaw(core_index)) {
+        if (core_index < compass.get_count() &&
+            compass.healthy(core_index) &&
+            compass.use_for_yaw(core_index)) {
             // use core_index compass if it is healthy
             magSelectIndex = core_index;
         }
@@ -1322,7 +1320,7 @@ ftype NavEKF3_core::MagDeclination(void) const
     if (!use_compass()) {
         return 0;
     }
-    return dal.get_compass()->get_declination();
+    return dal.compass().get_declination();
 }
 
 /*
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 79f4e0bd6f..08831eb424 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -377,9 +377,11 @@ void NavEKF3_core::getMagXYZ(Vector3f &magXYZ) const
 // return true if offsets are valid
 bool NavEKF3_core::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
 {
-    if (!dal.get_compass()) {
+    const auto &compass = dal.compass();
+    if (!compass.available()) {
         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;
@@ -387,12 +389,12 @@ bool NavEKF3_core::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
     if ((mag_idx == magSelectIndex) &&
             finalInflightMagInit &&
             !inhibitMagStates &&
-            dal.get_compass()->healthy(magSelectIndex) &&
+            compass.healthy(magSelectIndex) &&
             variancesConverged) {
-        magOffsets = dal.get_compass()->get_offsets(magSelectIndex) - stateStruct.body_magfield.tofloat()*1000.0;
+        magOffsets = compass.get_offsets(magSelectIndex) - stateStruct.body_magfield.tofloat()*1000.0;
         return true;
     } else {
-        magOffsets = dal.get_compass()->get_offsets(magSelectIndex);
+        magOffsets = compass.get_offsets(magSelectIndex);
         return false;
     }
 }