diff --git a/libraries/AP_Compass/AP_Compass_AK09916.cpp b/libraries/AP_Compass/AP_Compass_AK09916.cpp
index 3be3053a58..fec2e90232 100644
--- a/libraries/AP_Compass/AP_Compass_AK09916.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK09916.cpp
@@ -324,19 +324,6 @@ void AP_Compass_AK09916::_update()
     _make_adc_sensitivity_adjustment(raw_field);
     raw_field *= AK09916_MILLIGAUSS_SCALE;
 
-#ifdef HAL_AK09916_HEATER_OFFSET
-    /*
-      the internal AK09916 can be impacted by the magnetic field from
-      a heater. We use the heater duty cycle to correct for the error
-     */
-    if (AP_HAL::Device::devid_get_bus_type(_bus->get_bus_id()) == AP_HAL::Device::BUS_TYPE_SPI) {
-        auto *bc = AP::boardConfig();
-        if (bc) {
-            raw_field += HAL_AK09916_HEATER_OFFSET * bc->get_heater_duty_cycle() * 0.01;
-        }
-    }
-#endif
-
     accumulate_sample(raw_field, _compass_instance, 10);
 
 check_registers:
diff --git a/libraries/AP_Compass/AP_Compass_Backend.cpp b/libraries/AP_Compass/AP_Compass_Backend.cpp
index ae41108221..9b9f5611cc 100644
--- a/libraries/AP_Compass/AP_Compass_Backend.cpp
+++ b/libraries/AP_Compass/AP_Compass_Backend.cpp
@@ -5,6 +5,7 @@
 
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -21,6 +22,30 @@ void AP_Compass_Backend::rotate_field(Vector3f &mag, uint8_t instance)
     }
     mag.rotate(state.rotation);
 
+#ifdef HAL_HEATER_MAG_OFFSET
+    /*
+      apply compass compensations for boards that have a heater which
+      interferes with an internal compass. This needs to be applied
+      before the board orientation so it is independent of
+      AHRS_ORIENTATION
+     */
+    if (!is_external(instance)) {
+        const uint32_t dev_id = uint32_t(_compass._state[Compass::StateIndex(instance)].dev_id);
+        static const struct offset {
+            uint32_t dev_id;
+            Vector3f ofs;
+        } offsets[] = HAL_HEATER_MAG_OFFSET;
+        const auto *bc = AP::boardConfig();
+        if (bc) {
+            for (const auto &o : offsets) {
+                if (o.dev_id == dev_id) {
+                    mag += o.ofs * bc->get_heater_duty_cycle() * 0.01;
+                }
+            }
+        }
+    }
+#endif
+
     if (!state.external) {
         // and add in AHRS_ORIENTATION setting if not an external compass
         if (_compass._board_orientation == ROTATION_CUSTOM && _compass._custom_rotation) {
diff --git a/libraries/AP_Compass/AP_Compass_IST8310.cpp b/libraries/AP_Compass/AP_Compass_IST8310.cpp
index cd4fb05cb3..7a0769761d 100644
--- a/libraries/AP_Compass/AP_Compass_IST8310.cpp
+++ b/libraries/AP_Compass/AP_Compass_IST8310.cpp
@@ -229,19 +229,6 @@ void AP_Compass_IST8310::timer()
     /* Resolution: 0.3 µT/LSB - already convert to milligauss */
     Vector3f field = Vector3f{x * 3.0f, y * 3.0f, z * 3.0f};
 
-#ifdef HAL_IST8310_I2C_HEATER_OFFSET
-    /*
-      the internal IST8310 can be impacted by the magnetic field from
-      a heater. We use the heater duty cycle to correct for the error
-     */
-    if (!is_external(_instance) && AP_HAL::Device::devid_get_bus_type(_dev->get_bus_id()) == AP_HAL::Device::BUS_TYPE_I2C) {
-        const auto *bc = AP::boardConfig();
-        if (bc) {
-            field += HAL_IST8310_I2C_HEATER_OFFSET * bc->get_heater_duty_cycle() * 0.01;
-        }
-    }
-#endif
-    
     accumulate_sample(field, _instance);
 }