diff --git a/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue b/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
index 0e9ceec851..2666a62e05 100644
--- a/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
+++ b/core/frontend/src/components/parameter-editor/InlineParameterEditor.vue
@@ -67,6 +67,7 @@ import Vue, { PropType } from 'vue'
 import mavlink2rest from '@/libs/MAVLink2Rest'
 import autopilot_data from '@/store/autopilot'
 import Parameter from '@/types/autopilot/parameter'
+import { Dictionary } from '@/types/common'
 
 export default Vue.extend({
   name: 'InlineParameterEditor',
@@ -95,6 +96,10 @@ export default Vue.extend({
       type: Boolean,
       default: false,
     },
+    metadataOverrides: {
+      type: Object as PropType<Dictionary<string>>,
+      default: () => ({}),
+    },
   },
   data() {
     return {
@@ -111,6 +116,13 @@ export default Vue.extend({
       const entries = Object.entries(this.param?.options ?? [])
       const value_is_known = Object.keys(this.param?.options ?? []).map(parseFloat).includes(this.param?.value)
       const options = entries.map(([value, name]) => ({ text: name, value: parseFloat(value), disabled: false }))
+      // replace entries in metadataOverrides
+      for (const [value, _name] of entries) {
+        if (value in this.metadataOverrides) {
+          const index = options.findIndex((option) => option.value === parseFloat(value))
+          options[index].text = this.metadataOverrides[value]
+        }
+      }
       if (!value_is_known) {
         options.push({ text: `Custom: ${this.param?.value}`, value: this.param?.value, disabled: false })
       }
diff --git a/core/frontend/src/components/vehiclesetup/configuration/compass/ArdupilotMavlinkCompassSetup.vue b/core/frontend/src/components/vehiclesetup/configuration/compass/ArdupilotMavlinkCompassSetup.vue
index 7bd442b135..acd00d09df 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/compass/ArdupilotMavlinkCompassSetup.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/compass/ArdupilotMavlinkCompassSetup.vue
@@ -1,30 +1,13 @@
 <template>
   <div class="pa-3">
     <v-card>
-      <div class="main-container d-flex flex-col">
-        <v-card outline class="mr-2 mb-2 flex-shrink-1">
+      <div class="main-container d-flex flex-row">
+        <v-card outline class="mr-2 mb-2 flex-shrink-1 d-flex flex-col">
           <div class="compass-container">
             <compass-display :compasses="reordered_compasses" :colors="compass_colors" />
           </div>
-          <v-card class="pa-2 ma-2" width="300px">
-            <v-card-title>
-              Declination
-            </v-card-title>
-            <v-card-text class="flex-shrink-1">
-              <parameter-switch label="Auto Declination" :parameter="compass_autodec" />
-              <p>
-                If you enable this option, the autopilot will automatically set the declination based on your current
-                location. A GPS or other absolute positioning system is required.
-              </p>
-              <v-text-field
-                label="Current Declination"
-                :disabled="compass_autodec?.value !== 0"
-                :value="printParam(compass_dec)"
-                @click="openParameterEditor(compass_dec)"
-              />
-            </v-card-text>
-          </v-card>
         </v-card>
+
         <v-card outline class="compass-calib-container mb-2">
           <v-card-title>
             <h3>Compass Calibration</h3>
@@ -91,6 +74,45 @@
             </div>
           </v-card-text>
         </v-card>
+        <v-card outline class="mr-2 ml-2 mb-2">
+          <div class="d-block ma-3" style="width: 400px;">
+            <v-expansion-panels focusable>
+              <v-expansion-panel>
+                <v-expansion-panel-header>
+                  <b>Declination</b> ({{ declination_short }})
+                  <v-spacer />
+                </v-expansion-panel-header>
+                <v-expansion-panel-content>
+                  <parameter-switch label="Auto Declination" :parameter="compass_autodec" />
+                  <p>
+                    If you enable this option, the autopilot will automatically set the
+                    declination based on your current location.
+                    A GPS or other absolute positioning system is required.
+                  </p>
+                  <InlineParameterEditor v-if="compass_autodec?.value === 0" auto-set :param="compass_dec" />
+                </v-expansion-panel-content>
+              </v-expansion-panel>
+              <v-expansion-panel>
+                <v-expansion-panel-header>
+                  <template #actions>
+                    <v-icon v-if="coordinates_valid" color="success">
+                      mdi-check-circle
+                    </v-icon>
+                    <v-icon v-else color="error">
+                      mdi-alert
+                    </v-icon>
+                  </template>
+
+                  <b>Global Position</b>
+                  <v-spacer />
+                </v-expansion-panel-header>
+                <v-expansion-panel-content>
+                  <auto-coordinate-detector v-model="coordinates" />
+                </v-expansion-panel-content>
+              </v-expansion-panel>
+            </v-expansion-panels>
+          </div>
+        </v-card>
       </div>
       <div class="compass-reorder-container d-flex flex-row">
         <v-tabs v-model="tab" vertical color="primary">
@@ -198,13 +220,15 @@
 import Vue from 'vue'
 import draggable from 'vuedraggable'
 import {
-  VCardText, VExpansionPanel, VTextField,
+  VCardText, VExpansionPanel,
 } from 'vuetify/lib'
 
 import ParameterSwitch from '@/components/common/ParameterSwitch.vue'
+import InlineParameterEditor from '@/components/parameter-editor/InlineParameterEditor.vue'
 import CompassDisplay from '@/components/vehiclesetup/configuration/compass/CompassDisplay.vue'
 import CompassParams from '@/components/vehiclesetup/configuration/compass/CompassParams.vue'
 import mavlink2rest from '@/libs/MAVLink2Rest'
+import Listener from '@/libs/MAVLink2Rest/Listener'
 import autopilot_data from '@/store/autopilot'
 import Parameter, { printParam } from '@/types/autopilot/parameter'
 import { Dictionary } from '@/types/common'
@@ -237,20 +261,23 @@ export default Vue.extend({
     CompassLearn,
     CompassParams,
     draggable,
-    VTextField,
     LargeVehicleCompassCalibrator,
     ParameterSwitch,
     VCardText,
     VExpansionPanel,
     FullCompassCalibrator,
+    InlineParameterEditor,
   },
   data() {
     return {
       tab: 0,
       color_options: ['green', 'blue', 'purple', 'red', 'orange', 'brown', 'grey', 'black'],
+      coordinates: undefined as { lat: number, lon: number } | undefined,
+      coordinates_valid: false,
       reordered_compasses: [] as deviceId[],
       edited_param: undefined as (undefined | Parameter),
       edit_param_dialog: false,
+      gps_listener: undefined as Listener | undefined,
     }
   },
   computed: {
@@ -265,6 +292,12 @@ export default Vue.extend({
       results.GPS2 = 'black'
       return results
     },
+    declination_short(): string {
+      if (this.compass_autodec?.value === 1) {
+        return 'Automatic Declination'
+      }
+      return `${this.compass_dec?.value.toFixed(2) ?? 'N/A'} rad`
+    },
     compass_autodec(): Parameter | undefined {
       return autopilot_data.parameter('COMPASS_AUTODEC')
     },
@@ -437,6 +470,15 @@ export default Vue.extend({
   },
   mounted() {
     this.reordered_compasses = this.compasses
+    this.gps_listener = mavlink2rest.startListening('GLOBAL_POSITION_INT').setCallback((receivedMessage) => {
+      if (receivedMessage.message.lat !== 0 || receivedMessage.message.lon !== 0) {
+        this.coordinates_valid = true
+      }
+    }).setFrequency(0)
+    mavlink2rest.requestMessageRate('GLOBAL_POSITION_INT', 1, autopilot_data.system_id)
+  },
+  beforeDestroy() {
+    this.gps_listener?.discard()
   },
   methods: {
     printParam,
diff --git a/core/frontend/src/components/vehiclesetup/configuration/compass/AutoCoordinateDetector.vue b/core/frontend/src/components/vehiclesetup/configuration/compass/AutoCoordinateDetector.vue
index 76164142e8..04a7b52522 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/compass/AutoCoordinateDetector.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/compass/AutoCoordinateDetector.vue
@@ -1,16 +1,29 @@
 <template>
-  <v-card-text class="mt-3 pa-0">
-    <v-tooltip bottom>
-      <template #activator="{ on }">
-        <v-icon dense :color="mavlink_lat ? 'green' : 'orange'" v-on="on">
-          {{ mavlink_lat ? "mdi-check-circle" : "mdi-alert-circle" }}
-        </v-icon>
-      </template>
-      <span>{{ mavlink_lat ? "Valid GPS position" : "No valid GPS position" }}</span>
-    </v-tooltip>
-    <b>Vehicle coordinates:</b> {{ mavlink_lat?.toFixed(5) ?? "N/A" }} {{ mavlink_lon?.toFixed(5) ?? "N/A" }}
+  <div>
+    <v-alert v-if="!mavlink_lat" dense type="error" class="mt-4">
+      No valid GPS position!
+    </v-alert>
+
+    A valid (usually GPS) position is required for the calibration to estimate the local world magnetic field.
+    Estimation of the local magnetic field improves the calibration quality as it
+    allows a 3D fusion of the compass data.
+    <br>
     <br>
-    <template v-if="!mavlink_lat && supports_setting_position">
+    <div v-if="!warnonly">
+      <v-tooltip bottom>
+        <template #activator="{ on }">
+          <v-icon dense :color="mavlink_lat ? 'green' : 'orange'" v-on="on">
+            {{ mavlink_lat ? "mdi-check-circle" : "mdi-alert-circle" }}
+          </v-icon>
+        </template>
+        <span>{{ mavlink_lat ? "Valid GPS position" : "No valid GPS position" }}</span>
+      </v-tooltip>
+      <b>Current vehicle coordinates:</b>
+      <br>
+      {{ mavlink_lat?.toFixed(5) ?? "N/A" }} {{ mavlink_lon?.toFixed(5) ?? "N/A" }}
+      <br>
+    </div>
+    <template v-if="!mavlink_lat && supports_setting_position && !warnonly">
       <v-icon dense :color="geoip_lat ? 'green' : 'red'">
         {{ geoip_lat ? "mdi-check-circle" : "mdi-alert-circle" }}
       </v-icon>
@@ -22,41 +35,52 @@
         </template>
         <span>GeoIP coordinates are estimated based on your IP address.</span>
       </v-tooltip>
-      <b>GeoIP coordinates:</b> {{ geoip_lat ?? "N/A" }} {{ geoip_lon ?? "N/A" }}
+      <b>GeoIP coordinates:</b>
+      <br>
+      {{ geoip_lat ?? "N/A" }} {{ geoip_lon ?? "N/A" }}
       <br>
     </template>
-    <v-card v-if="!mavlink_lat && supports_setting_position" class="pa-4">
-      <v-card-text>
-        No valid GPS position!
-      </v-card-text>
-      <v-card-actions>
-        <v-btn v-if="!manual_coordinates" small color="primary" @click="setOrigin(geoip_lat ?? 0, geoip_lon ?? 0)">
+    <v-card v-if="!mavlink_lat && supports_setting_position && !warnonly" class="pa-4">
+      <div class="d-flex flex-column justify-space-between">
+        <v-btn
+          v-if="!manual_coordinates"
+          class="ma-1"
+          small
+          color="primary"
+          @click="setOrigin(geoip_lat ?? 0, geoip_lon ?? 0)"
+        >
           Use GeoIP coordinates
         </v-btn>
-        <v-btn v-if="!mavlink_lat && !manual_coordinates" small color="primary" @click="manual_coordinates = true">
+        <v-btn
+          v-if="!mavlink_lat && !manual_coordinates"
+          class="ma-1"
+          small
+          color="primary"
+          @click="manual_coordinates = true"
+        >
           Enter custom coordinate
         </v-btn>
-        <br>
-        <div v-if="manual_coordinates">
-          <v-text-field
-            v-model="manual_lat"
-            label="Latitude"
-            type="number"
-            required
-          />
-          <v-text-field
-            v-model="manual_lon"
-            label="Longitude"
-            type="number"
-            required
-          />
-          <v-btn small color="primary" @click="setOrigin(manual_lat ?? 0, manual_lon ?? 0)">
-            Use these coordinates
-          </v-btn>
-        </div>
-      </v-card-actions>
+      </div>
+
+      <div v-if="manual_coordinates">
+        <v-text-field
+          v-model="manual_lat"
+          label="Latitude"
+          type="number"
+          required
+        />
+        <v-text-field
+          v-model="manual_lon"
+          label="Longitude"
+          type="number"
+          required
+        />
+        <v-btn small color="primary" @click="setOrigin(manual_lat ?? 0, manual_lon ?? 0)">
+          Use these coordinates
+        </v-btn>
+      </div>
     </v-card>
-  </v-card-text>
+  </div>
 </template>
 
 <script lang="ts">
@@ -81,6 +105,11 @@ export default {
       required: false,
       default: undefined,
     },
+    warnonly: {
+      type: Boolean,
+      required: false,
+      default: false,
+    },
   },
   data() {
     return {
@@ -188,5 +217,7 @@ export default {
 </script>
 
 <style scoped>
-
+.position {
+  max-width: 300px;
+}
 </style>
diff --git a/core/frontend/src/components/vehiclesetup/configuration/compass/CompassDisplay.vue b/core/frontend/src/components/vehiclesetup/configuration/compass/CompassDisplay.vue
index 1be7fbf583..7d6552cae8 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/compass/CompassDisplay.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/compass/CompassDisplay.vue
@@ -334,5 +334,6 @@ export default Vue.extend({
 .compass canvas {
   border-radius: 15%;
   border: 1px solid var(--v-primary-base);
+  background-color: white;
 }
 </style>
diff --git a/core/frontend/src/components/vehiclesetup/configuration/compass/FullCompassCalibrator.vue b/core/frontend/src/components/vehiclesetup/configuration/compass/FullCompassCalibrator.vue
index 6158a6f506..2764bed866 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/compass/FullCompassCalibrator.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/compass/FullCompassCalibrator.vue
@@ -36,7 +36,7 @@
 
         <auto-coordinate-detector
           v-if="state === states.IDLE"
-          v-model="coordinates"
+          warnonly
         />
         <compass-mask-picker v-if="state === states.IDLE" v-model="compass_mask" :devices="compasses" />
         <v-divider />
@@ -128,7 +128,6 @@ export default {
   data() {
     return {
       dialog: false,
-      coordinates: undefined as { lat: number, lon: number } | undefined,
       compass_mask: 0,
       status_type: '' as string | undefined,
       status_text: '' as string | undefined,
diff --git a/core/frontend/src/components/vehiclesetup/configuration/compass/LargeVehicleCompassCalibrator.vue b/core/frontend/src/components/vehiclesetup/configuration/compass/LargeVehicleCompassCalibrator.vue
index 9d63f24f92..cabdb418ac 100644
--- a/core/frontend/src/components/vehiclesetup/configuration/compass/LargeVehicleCompassCalibrator.vue
+++ b/core/frontend/src/components/vehiclesetup/configuration/compass/LargeVehicleCompassCalibrator.vue
@@ -21,6 +21,7 @@
         A Valid position is required for Compass Learn to estimate the local world magnetic field.
         <auto-coordinate-detector
           v-model="coordinates"
+          warnonly
         />
         <compass-mask-picker v-model="compass_mask" :devices="compasses" />
         <v-divider />