diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index 1e989a8552..cc8e1bd2d4 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -192,14 +192,6 @@ void Copter::compass_cal_update()
         compass.compass_cal_update();
     }
 
-#ifdef CAL_ALWAYS_REBOOT
-    if (compass.compass_cal_requires_reboot()) {
-        hal.scheduler->delay(1000);
-        hal.scheduler->reboot(false);
-        return;
-    }
-#endif
-
     if (compass.is_calibrating()) {
         if (channel_yaw->get_control_in() < -4000 && channel_throttle->get_control_in() > 900) {
             compass.cancel_calibration_all();
@@ -211,7 +203,11 @@ void Copter::compass_cal_update()
         if (!stick_gesture_detected) {
             compass_cal_stick_gesture_begin = tnow;
         } else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
+#ifdef CAL_ALWAYS_REBOOT
+            compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
+#else
             compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
+#endif
         }
     }
 }