diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index d9f6d344a8..e84cfceda2 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -153,7 +153,7 @@ private:
     // sensor drivers
     AP_GPS gps;
     AP_Baro barometer = AP_Baro::create();
-    Compass compass;
+    Compass compass = Compass::create();
     AP_InertialSensor ins;
     RangeFinder rangefinder { serial_manager, ROTATION_NONE };
     AP_Button button;
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index d8a4fb8d19..9763e84f25 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -108,7 +108,7 @@ private:
 
     AP_Baro barometer = AP_Baro::create();
 
-    Compass compass;
+    Compass compass = Compass::create();
 
     AP_InertialSensor ins;
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 3378ff0349..3ab2593e6b 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -198,7 +198,7 @@ private:
     AP_Int8 *flight_modes;
 
     AP_Baro barometer = AP_Baro::create();
-    Compass compass;
+    Compass compass = Compass::create();
     AP_InertialSensor ins;
 
     RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270};
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index b35f1b031e..5dc5691efa 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -201,7 +201,7 @@ private:
     AP_Int8 *flight_modes = &g.flight_mode1;
 
     AP_Baro barometer = AP_Baro::create();
-    Compass compass;
+    Compass compass = Compass::create();
 
     AP_InertialSensor ins;
 
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 3871b1adff..436ae13151 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -167,7 +167,7 @@ private:
 
     TSYS01 celsius;
     AP_Baro barometer = AP_Baro::create();
-    Compass compass;
+    Compass compass = Compass::create();
     AP_InertialSensor ins;
 
     RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270};
diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
index 0ee3e7984d..4579c31e96 100644
--- a/Tools/Replay/Replay.h
+++ b/Tools/Replay/Replay.h
@@ -61,7 +61,7 @@ public:
     AP_InertialSensor ins;
     AP_Baro barometer = AP_Baro::create();
     AP_GPS gps;
-    Compass compass;
+    Compass compass = Compass::create();
     AP_SerialManager serial_manager;
     RangeFinder rng {serial_manager, ROTATION_PITCH_270};
     NavEKF2 EKF2{&ahrs, barometer, rng};
diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
index 4dcd2f35e5..4c0f961007 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -16,7 +16,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 // INS and Baro declaration
 AP_InertialSensor ins;
 
-Compass compass;
+static Compass compass = Compass::create();
 
 AP_GPS gps;
 static AP_Baro barometer = AP_Baro::create();
diff --git a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
index 63683961d5..cca63d595f 100644
--- a/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
+++ b/libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
@@ -9,7 +9,7 @@
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-static Compass compass;
+static Compass compass = Compass::create();
 
 uint32_t timer;
 
diff --git a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
index 32a6bec421..d832e8270e 100644
--- a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
+++ b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.cpp
@@ -17,7 +17,7 @@ private:
     AP_InertialSensor ins;
     AP_Baro baro = AP_Baro::create();
     AP_GPS  gps;
-    Compass compass;
+    Compass compass = Compass::create();
     AP_AHRS_DCM ahrs{ins, baro, gps};
 
     // global constants that control how many verify calls must be made for a command before it completes
diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
index 74af4e4f6a..74d8e4386a 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
@@ -23,7 +23,7 @@ class DummyVehicle {
 public:
     AP_GPS gps;
     AP_Baro barometer = AP_Baro::create();
-    Compass compass;
+    Compass compass = Compass::create();
     AP_InertialSensor ins;
     AP_SerialManager serial_manager;
     RangeFinder sonar {serial_manager, ROTATION_PITCH_270};