diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 5a4e1e09cc..86a493fc8d 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -85,7 +85,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Notify,           &rover.notify,           update,         50,  300),
     SCHED_TASK(one_second_loop,         1,   1500),
     SCHED_TASK_CLASS(AC_Sprayer,          &rover.g2.sprayer,           update,      3,  90),
-    SCHED_TASK(compass_cal_update,     50,    200),
+    SCHED_TASK_CLASS(Compass,          &rover.compass,              cal_update, 50, 200),
     SCHED_TASK(compass_save,           0.1,   200),
     SCHED_TASK(accel_cal_update,       10,    200),
 #if LOGGING_ENABLED == ENABLED
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 4bc54b17d7..780ad2f18a 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -463,7 +463,6 @@ private:
     // sensors.cpp
     void init_compass_location(void);
     void update_compass(void);
-    void compass_cal_update(void);
     void compass_save(void);
     void init_beacon();
     void init_visual_odom();
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index fce932460f..200b3b7f24 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -30,13 +30,6 @@ void Rover::update_compass(void)
     }
 }
 
-// Calibrate compass
-void Rover::compass_cal_update() {
-    if (!hal.util->get_soft_armed()) {
-        compass.compass_cal_update();
-    }
-}
-
 // Save compass offsets
 void Rover::compass_save() {
     if (AP::compass().enabled() &&