diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 6c1c7de359..51d93bdd20 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -938,6 +938,8 @@ void Compass::_detect_backends(void)
     ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m")));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BMM150_I2C
     ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)));
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_MROCONTROLZEROF7
+    ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe_ICM20948(0, ROTATION_ROLL_180));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE
     // no compass
 #else