diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index ff0fa5ae54..c9dd33c3dd 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -213,7 +213,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if RPM_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_RPM,               &copter.rpm_sensor,          update,          40, 200, 129),
 #endif
-    SCHED_TASK_CLASS(Compass, &copter.compass, cal_update, 100, 100, 132),
     SCHED_TASK_CLASS(AP_TempCalibration,   &copter.g2.temp_calibration, update,          10, 100, 135),
 #if HAL_ADSB_ENABLED
     SCHED_TASK(avoidance_adsb_update, 10,    100, 138),
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index e0fd9033b4..0f04e230bc 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -880,7 +880,6 @@ private:
     bool rangefinder_alt_ok() const;
     bool rangefinder_up_ok() const;
     void update_optical_flow(void);
-    void compass_cal_update(void);
 
     // RC_Channel.cpp
     void save_trim();