diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 143abd836d..45a5386b74 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1349,13 +1349,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             break;
         }
 
-        case MAV_CMD_DO_START_MAG_CAL:
-        case MAV_CMD_DO_ACCEPT_MAG_CAL:
-        case MAV_CMD_DO_CANCEL_MAG_CAL:
-            result = copter.compass.handle_mag_cal_command(packet);
-
-            break;
-
         case MAV_CMD_DO_SEND_BANNER: {
             result = MAV_RESULT_ACCEPTED;
 
@@ -1948,6 +1941,11 @@ AP_Mission *GCS_MAVLINK_Copter::get_mission()
     return &copter.mission;
 }
 
+Compass *GCS_MAVLINK_Copter::get_compass() const
+{
+    return &copter.compass;
+}
+
 AP_ServoRelayEvents *GCS_MAVLINK_Copter::get_servorelayevents() const
 {
     return &copter.ServoRelayEvents;
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index abeaae10da..fde9e07b30 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -20,6 +20,7 @@ protected:
 
     AP_Mission *get_mission() override;
     AP_Rally *get_rally() const override;
+    Compass *get_compass() const override;
     AP_ServoRelayEvents *get_servorelayevents() const override;
 
     uint8_t sysid_my_gcs() const override;