diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index ee738d1bc2..77ce49a874 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -182,7 +182,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
 
     // default to all healthy except compass, gps and receiver which we set individually
     control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS & ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
-    if (g.compass_enabled && compass.healthy && ahrs.use_compass()) {
+    if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
     if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && !gps_glitch.glitching()) {
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index f2ceeeedc4..4c94f17c8d 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -248,7 +248,7 @@ static void pre_arm_checks(bool display_failure)
     // check Compass
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
         // check the compass is healthy
-        if(!compass.healthy) {
+        if(!compass.healthy()) {
             if (display_failure) {
                 gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy"));
             }
diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index 2d2baa7e1d..5a3cb9d363 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -183,7 +183,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
     compass.read();
 
     // exit immediately if the compass is not healthy
-    if( !compass.healthy ) {
+    if( !compass.healthy() ) {
         cliSerial->print_P(PSTR("check compass\n"));
         return 0;
     }
@@ -208,7 +208,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
     last_run_time = millis();
 
     // main run while there is no user input and the compass is healthy
-    while(!cliSerial->available() && compass.healthy) {
+    while(!cliSerial->available() && compass.healthy()) {
 
         // 50hz loop
         if( millis() - last_run_time > 20 ) {
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 2465df9129..476337a1fa 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -141,7 +141,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
 
             counter++;
             if (counter>20) {
-                if (compass.healthy) {
+                if (compass.healthy()) {
                     const Vector3f &mag_ofs = compass.get_offsets();
                     const Vector3f &mag = compass.get_field();
                     cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),