diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index be15da6bb9..e80f84bc77 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -645,7 +645,10 @@ protected:
     MAV_RESULT handle_command_do_set_roi_none();
 
     virtual MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
-    MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
+
+    MAV_RESULT handle_command_mag_cal(const mavlink_command_int_t &packet);
+    MAV_RESULT handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet);
+
     MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet);
     virtual MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet);
     MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);
@@ -670,8 +673,6 @@ protected:
 
     void handle_optical_flow(const mavlink_message_t &msg);
 
-    MAV_RESULT handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet);
-
     void handle_manual_control(const mavlink_message_t &msg);
 
     // default empty handling of LANDING_TARGET
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index aa0274d82d..9a673f7e77 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3712,22 +3712,25 @@ void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
 #endif
 
 
+#if COMPASS_CAL_ENABLED
 /*
   handle MAV_CMD_FIXED_MAG_CAL_YAW
  */
 MAV_RESULT GCS_MAVLINK::handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet)
 {
-#if COMPASS_CAL_ENABLED
     Compass &compass = AP::compass();
     return compass.mag_cal_fixed_yaw(packet.param1,
                                      uint8_t(packet.param2),
                                      packet.param3,
                                      packet.param4);
-#else
-    return MAV_RESULT_UNSUPPORTED;
-#endif
 }
 
+MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_int_t &packet)
+{
+    return AP::compass().handle_mag_cal_command(packet);
+}
+#endif  // COMPASS_CAL_ENABLED
+
 /*
   handle MAV_CMD_CAN_FORWARD
  */
@@ -4426,13 +4429,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_long_
     return MAV_RESULT_FAILED;
 }
 
-#if COMPASS_CAL_ENABLED
-MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &packet)
-{
-    return AP::compass().handle_mag_cal_command(packet);
-}
-#endif
-
 #if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet)
 {
@@ -4696,15 +4692,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
         break;
 #endif // HAL_HIGH_LATENCY2_ENABLED
 
-#if COMPASS_CAL_ENABLED
-    case MAV_CMD_DO_START_MAG_CAL:
-    case MAV_CMD_DO_ACCEPT_MAG_CAL:
-    case MAV_CMD_DO_CANCEL_MAG_CAL: {
-        result = handle_command_mag_cal(packet);
-        break;
-    }
-#endif
-
     case MAV_CMD_START_RX_PAIR:
         result = handle_rc_bind(packet);
         break;
@@ -5146,8 +5133,15 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
 #endif
     case MAV_CMD_COMPONENT_ARM_DISARM:
         return handle_command_component_arm_disarm(packet);
+
+#if COMPASS_CAL_ENABLED
     case MAV_CMD_FIXED_MAG_CAL_YAW:
         return handle_command_fixed_mag_cal_yaw(packet);
+    case MAV_CMD_DO_START_MAG_CAL:
+    case MAV_CMD_DO_ACCEPT_MAG_CAL:
+    case MAV_CMD_DO_CANCEL_MAG_CAL:
+        return handle_command_mag_cal(packet);
+#endif
 
 #if AP_SCRIPTING_ENABLED
     case MAV_CMD_SCRIPTING: