diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 3dfb879817..061f983def 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -68,6 +68,13 @@ const AP_Param::GroupInfo AP_ExternalAHRS::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("_OPTIONS", 3, AP_ExternalAHRS, options, 0),
 
+    // @Param: _SENSORS
+    // @DisplayName: External AHRS sensors
+    // @Description: External AHRS sensors bitmask
+    // @Bitmask: 0:GPS,1:IMU,2:Baro,3:Compass
+    // @User: Advanced
+    AP_GROUPINFO("_SENSORS", 4, AP_ExternalAHRS, sensors, 0xF),
+    
     AP_GROUPEND
 };
 
@@ -101,9 +108,9 @@ bool AP_ExternalAHRS::enabled() const
 }
 
 // get serial port number for the uart, or -1 if not applicable
-int8_t AP_ExternalAHRS::get_port(void) const
+int8_t AP_ExternalAHRS::get_port(AvailableSensor sensor) const
 {
-    if (!backend) {
+    if (!backend || !has_sensor(sensor)) {
         return -1;
     }
     return backend->get_port();
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index 32b76701d7..bef32381c6 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -59,8 +59,15 @@ public:
     // Get model/type name
     const char* get_name() const;
 
+    enum class AvailableSensor {
+        GPS = (1U<<0),
+        IMU = (1U<<1),
+        BARO = (1U<<2),
+        COMPASS = (1U<<3),
+    };
+
     // get serial port number, -1 for not enabled
-    int8_t get_port(void) const;
+    int8_t get_port(AvailableSensor sensor) const;
 
     struct state_t {
         HAL_Semaphore sem;
@@ -147,8 +154,14 @@ private:
     AP_Enum<DevType> devtype;
     AP_Int16         rate;
     AP_Int16         options;
+    AP_Int16         sensors;
 
     static AP_ExternalAHRS *_singleton;
+
+    // check if a sensor type is enabled
+    bool has_sensor(AvailableSensor sensor) const {
+        return (uint16_t(sensors.get()) & uint16_t(sensor)) != 0;
+    }
 };
 
 namespace AP {