diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index c575b8b5c0..b0c7a8b559 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -408,7 +408,7 @@ bool NavEKF2_core::readyToUseExtNav(void) const
 // return true if we should use the compass
 bool NavEKF2_core::use_compass(void) const
 {
-    return dal.get_compass() && dal.get_compass()->use_for_yaw(magSelectIndex) && !allMagSensorsFailed;
+    return dal.compass().use_for_yaw(magSelectIndex) && !allMagSensorsFailed;
 }
 
 /*
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index b7aeec6440..ad473751fc 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -228,13 +228,13 @@ void NavEKF2_core::tryChangeCompass(void)
 // check for new magnetometer data and update store measurements if available
 void NavEKF2_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();
@@ -627,8 +627,9 @@ void NavEKF2_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()) {
                     table_earth_field_ga = AP_Declination::get_earth_field_ga(gpsloc).toftype();
                     table_declination = radians(AP_Declination::get_declination(gpsloc.lat*1.0e-7,
                                                                                 gpsloc.lng*1.0e-7));
@@ -984,7 +985,7 @@ ftype NavEKF2_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_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 21bcd3eb8b..aedf27f06d 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -377,7 +377,8 @@ void NavEKF2_core::getMagXYZ(Vector3f &magXYZ) const
 // return true if offsets are valid
 bool NavEKF2_core::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
 {
-    if (!dal.get_compass()) {
+    const auto &compass = dal.compass();
+    if (!compass.available()) {
         return false;
     }
 
@@ -388,12 +389,12 @@ bool NavEKF2_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*1000.0).tofloat();
+        magOffsets = compass.get_offsets(magSelectIndex) - (stateStruct.body_magfield*1000.0).tofloat();
         return true;
     } else {
-        magOffsets = dal.get_compass()->get_offsets(magSelectIndex);
+        magOffsets = compass.get_offsets(magSelectIndex);
         return false;
     }
 }