diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 6e4fef23b5..7fda979a44 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -414,8 +414,9 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
 
 static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
 {
-    Vector3f accel = ins.get_accel();
-    Vector3f gyro = ins.get_gyro();
+    const Vector3f &accel = ins.get_accel();
+    const Vector3f &gyro = ins.get_gyro();
+    const Vector3f &mag = compass.get_field();
 
     mavlink_msg_raw_imu_send(
         chan,
@@ -426,9 +427,9 @@ static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
         gyro.x * 1000.0,
         gyro.y * 1000.0,
         gyro.z * 1000.0,
-        compass.mag_x,
-        compass.mag_y,
-        compass.mag_z);
+        mag.x,
+        mag.y,
+        mag.z);
 }
 
 static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
@@ -473,7 +474,7 @@ static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
 
 static void NOINLINE send_ahrs(mavlink_channel_t chan)
 {
-    Vector3f omega_I = ahrs.get_gyro_drift();
+    const Vector3f &omega_I = ahrs.get_gyro_drift();
     mavlink_msg_ahrs_send(
         chan,
         omega_I.x,
diff --git a/ArduPlane/Log.pde b/ArduPlane/Log.pde
index 9f37d0bca7..7f4e5cd5f0 100644
--- a/ArduPlane/Log.pde
+++ b/ArduPlane/Log.pde
@@ -455,13 +455,14 @@ struct PACKED log_Compass {
 // Write a Compass packet. Total length : 15 bytes
 static void Log_Write_Compass()
 {
-    Vector3f mag_offsets = compass.get_offsets();
+    const Vector3f &mag_offsets = compass.get_offsets();
+    const Vector3f &mag = compass.get_field();
     struct log_Compass pkt = {
         LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
         time_ms         : hal.scheduler->millis(),
-        mag_x           : compass.mag_x,
-        mag_y           : compass.mag_y,
-        mag_z           : compass.mag_z,
+        mag_x           : (int16_t)mag.x,
+        mag_y           : (int16_t)mag.y,
+        mag_z           : (int16_t)mag.z,
         offset_x        : (int16_t)mag_offsets.x,
         offset_y        : (int16_t)mag_offsets.y,
         offset_z        : (int16_t)mag_offsets.z
diff --git a/ArduPlane/test.pde b/ArduPlane/test.pde
index b1918c1a58..10b8184940 100644
--- a/ArduPlane/test.pde
+++ b/ArduPlane/test.pde
@@ -523,15 +523,12 @@ test_mag(uint8_t argc, const Menu::arg *argv)
             counter++;
             if (counter>20) {
                 if (compass.healthy) {
-                    Vector3f maggy = compass.get_offsets();
-                    cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
-                                    (wrap_360_cd(ToDeg(heading) * 100)) /100,
-                                    (int)compass.mag_x,
-                                    (int)compass.mag_y,
-                                    (int)compass.mag_z,
-                                    maggy.x,
-                                    maggy.y,
-                                    maggy.z);
+                    const Vector3f &mag_ofs = compass.get_offsets();
+                    const Vector3f &mag = compass.get_field();
+                    cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
+                                        (wrap_360_cd(ToDeg(heading) * 100)) /100,
+                                        mag.x, mag.y, mag.z,
+                                        mag_ofs.x, mag_ofs.y, mag_ofs.z);
                 } else {
                     cliSerial->println_P(PSTR("compass not healthy"));
                 }