diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index dcb78800aa..037b135e7e 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -205,20 +205,6 @@ void Rover::gcs_failsafe_check(void)
     failsafe_trigger(FAILSAFE_EVENT_GCS, failsafe.last_heartbeat_ms != 0 && (millis() - failsafe.last_heartbeat_ms) > 2000);
 }
 
-/*
-  check for new compass data - 10Hz
- */
-void Rover::update_compass(void)
-{
-    if (g.compass_enabled && compass.read()) {
-        ahrs.set_compass(&compass);
-        // update offsets
-        if (should_log(MASK_LOG_COMPASS)) {
-            logger.Write_Compass();
-        }
-    }
-}
-
 /*
   log some key data - 10Hz
  */
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index ed0b700338..d1aa60ceb0 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -386,7 +386,6 @@ private:
     void stats_update();
     void ahrs_update();
     void gcs_failsafe_check(void);
-    void update_compass(void);
     void update_logging1(void);
     void update_logging2(void);
     void one_second_loop(void);
@@ -481,11 +480,12 @@ private:
     // sensors.cpp
     void init_compass(void);
     void init_compass_location(void);
+    void update_compass(void);
+    void compass_cal_update(void);
+    void compass_save(void);
     void init_beacon();
     void init_visual_odom();
     void update_wheel_encoder();
-    void compass_cal_update(void);
-    void compass_save(void);
     void accel_cal_update(void);
     void read_rangefinders(void);
     void init_proximity();
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index ff5dc37529..126b99e223 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -34,6 +34,34 @@ void Rover::init_compass_location(void)
     }
 }
 
+// check for new compass data - 10Hz
+void Rover::update_compass(void)
+{
+    if (g.compass_enabled && compass.read()) {
+        ahrs.set_compass(&compass);
+        // update offsets
+        if (should_log(MASK_LOG_COMPASS)) {
+            logger.Write_Compass();
+        }
+    }
+}
+
+// Calibrate compass
+void Rover::compass_cal_update() {
+    if (!hal.util->get_soft_armed()) {
+        compass.compass_cal_update();
+    }
+}
+
+// Save compass offsets
+void Rover::compass_save() {
+    if (g.compass_enabled &&
+        compass.get_learn_type() >= Compass::LEARN_INTERNAL &&
+        !arming.is_armed()) {
+        compass.save_offsets();
+    }
+}
+
 // init beacons used for non-gps position estimates
 void Rover::init_beacon()
 {
@@ -110,22 +138,6 @@ void Rover::update_wheel_encoder()
     wheel_encoder_last_ekf_update_ms = now;
 }
 
-// Calibrate compass
-void Rover::compass_cal_update() {
-    if (!hal.util->get_soft_armed()) {
-        compass.compass_cal_update();
-    }
-}
-
-// Save compass offsets
-void Rover::compass_save() {
-    if (g.compass_enabled &&
-        compass.get_learn_type() >= Compass::LEARN_INTERNAL &&
-        !arming.is_armed()) {
-        compass.save_offsets();
-    }
-}
-
 // Accel calibration
 
 void Rover::accel_cal_update() {