diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index 07d1c9e73e..2952145ba3 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -97,7 +97,6 @@ extern const AP_HAL::HAL& hal;
 
 AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus) :
     AP_Compass_Backend(compass),
-    _state(STATE_UNKNOWN),
     _initialized(false),
     _last_update_timestamp(0),
     _last_accum_time(0),
@@ -183,18 +182,14 @@ bool AP_Compass_AK8963::init()
         goto fail;
     }
 
-    _state = STATE_SAMPLE;
     _initialized = true;
 
     /* register the compass instance in the frontend */
     _compass_instance = register_compass();
-
     set_dev_id(_compass_instance, _bus->get_dev_id());
-
     hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void));
 
     _bus_sem->give();
-
     hal.scheduler->resume_timer_procs();
 
     return true;
@@ -244,19 +239,33 @@ void AP_Compass_AK8963::_update()
         return;
     }
 
-    switch (_state) {
-    case STATE_SAMPLE:
-        if (!_collect_samples()) {
-            _state = STATE_ERROR;
-        }
-        break;
-    case STATE_ERROR:
-        if (_bus->start_measurements()) {
-            _state = STATE_SAMPLE;
-        }
-        break;
-    default:
-        break;
+    struct AP_AK8963_SerialBus::raw_value rv;
+
+    _bus->read_raw(&rv);
+
+    /* Check for overflow. See AK8963's datasheet, section
+     * 6.4.3.6 - Magnetic Sensor Overflow. */
+    if ((rv.st2 & 0x08)) {
+        return;
+    }
+
+    float mag_x = (float) rv.val[0];
+    float mag_y = (float) rv.val[1];
+    float mag_z = (float) rv.val[2];
+
+    if (is_zero(mag_x) && is_zero(mag_y) && is_zero(mag_z)) {
+        return;
+    }
+
+    _mag_x_accum += mag_x;
+    _mag_y_accum += mag_y;
+    _mag_z_accum += mag_z;
+    _accum_count++;
+    if (_accum_count == 10) {
+        _mag_x_accum /= 2;
+        _mag_y_accum /= 2;
+        _mag_z_accum /= 2;
+        _accum_count = 5;
     }
 
     _last_update_timestamp = hal.scheduler->micros();
@@ -306,41 +315,6 @@ bool AP_Compass_AK8963::_calibrate()
     return true;
 }
 
-bool AP_Compass_AK8963::_collect_samples()
-{
-    struct AP_AK8963_SerialBus::raw_value rv;
-
-    if (!_initialized) {
-        return false;
-    }
-
-    _bus->read_raw(&rv);
-    if ((rv.st2 & 0x08)) {
-        return false;
-    }
-
-    float mag_x = (float) rv.val[0];
-    float mag_y = (float) rv.val[1];
-    float mag_z = (float) rv.val[2];
-
-    if (is_zero(mag_x) && is_zero(mag_y) && is_zero(mag_z)) {
-        return false;
-    }
-
-    _mag_x_accum += mag_x;
-    _mag_y_accum += mag_y;
-    _mag_z_accum += mag_z;
-    _accum_count++;
-    if (_accum_count == 10) {
-        _mag_x_accum /= 2;
-        _mag_y_accum /= 2;
-        _mag_z_accum /= 2;
-        _accum_count = 5;
-    }
-
-    return true;
-}
-
 bool AP_Compass_AK8963::_sem_take_blocking()
 {
     return _bus_sem->take(10);
@@ -471,7 +445,6 @@ bool AP_AK8963_SerialBus_MPU9250::start_measurements()
 {
     const uint8_t count = sizeof(struct raw_value);
 
-    configure();
     _write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG);  /* Set the I2C slave addres of AK8963 and set for read. */
     _write(MPUREG_I2C_SLV0_REG, AK8963_INFO); /* I2C slave 0 register address from where to begin data transfer */
     _write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h
index dd2449894a..825277f24c 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.h
+++ b/libraries/AP_Compass/AP_Compass_AK8963.h
@@ -46,28 +46,17 @@ public:
     void        accumulate(void);
 
 private:
-    typedef enum
-    {
-        STATE_UNKNOWN,
-        STATE_CONVERSION,
-        STATE_SAMPLE,
-        STATE_ERROR
-    } state_t;
-
     bool _reset();
     bool _setup_mode();
     bool _check_id();
     bool _calibrate();
 
     void _update();
-    bool _collect_samples();
     void _dump_registers();
     bool _sem_take_blocking();
     bool _sem_take_nonblocking();
     bool _sem_give();
 
-    state_t             _state;
-
     float               _magnetometer_ASA[3] {0, 0, 0};
     uint8_t             _compass_instance;