diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index f4339b4bc7..73f456919d 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -37,6 +37,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(update_tracking,        50,   1000),
     SCHED_TASK(update_GPS,             10,   4000),
     SCHED_TASK(update_compass,         10,   1500),
+    SCHED_TASK(compass_save,           0.02,   200),
     SCHED_TASK_CLASS(AP_BattMonitor,    &tracker.battery,   read,           10, 1500),
     SCHED_TASK_CLASS(AP_Baro,          &tracker.barometer,  update,         10,   1500),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_receive, 50, 1700),
@@ -95,13 +96,6 @@ void Tracker::one_second_loop()
     // updated armed/disarmed status LEDs
     update_armed_disarmed();
 
-    one_second_counter++;
-
-    if (one_second_counter >= 60) {
-        compass_save();
-        one_second_counter = 0;
-    }
-
     // init compass location for declination
     init_compass_location();
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 1e4a0bb3f1..ca170c448b 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -195,7 +195,6 @@ private:
     // setup the var_info table
     AP_Param param_loader{var_info};
 
-    uint8_t one_second_counter = 0;
     bool target_set = false;
     bool stationary = true; // are we using the start lat and log?