diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
index c0d6963784..4823f1916b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
@@ -280,8 +280,8 @@ COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
 COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
 
 # offset the internal compass for EM impact of the IMU heater
-# this is in sensor frame mGauss
-define HAL_AK09916_HEATER_OFFSET Vector3f(30,10,235)
+# this is in body frame mGauss
+define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SPI,4,1,9),Vector3f(10,30,-235)}
 
 # also probe for external compasses
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pix32v5/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pix32v5/hwdef.dat
index 61c3bf6cc0..ae5a92e3f6 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pix32v5/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pix32v5/hwdef.dat
@@ -17,5 +17,5 @@ define HAL_IMUHEAT_I_DEFAULT 0.07
 PG14 USART6_TX USART6 NODMA
 
 # offset the internal compass for EM impact of the IMU heater
-# this is in sensor frame mGauss
-define HAL_IST8310_I2C_HEATER_OFFSET Vector3f(-3,14,-6)
+# this is in body frame mGauss
+define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0xa),Vector3f(18,0,8)}
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
index 1b7c48e7a4..5510d9db7b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -291,7 +291,18 @@ BARO BMP388 I2C:0:0x77
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
 
-# SPI devices
+# builtin compass on CUAV 6X
+COMPASS RM3100 I2C:0:0x20 false ROTATION_PITCH_180
+
+# compensate for magnetic field generated by the heater on CUAV-6X RM3100
+define HAL_HEATER_MAG_OFFSET_RM3100 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x20,0x11),Vector3f(-19,37,-24)
+
+# compensate for magnetic field generated by the heater on Holybro6X BMM150
+define HAL_HEATER_MAG_OFFSET_BMM150 AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0x10,0x05),Vector3f(12,-38,23)
+
+define HAL_HEATER_MAG_OFFSET {HAL_HEATER_MAG_OFFSET_RM3100, HAL_HEATER_MAG_OFFSET_BMM150}
+
+# IMU devices for Holybro6X
 SPIDEV bmi088_g SPI3 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
 SPIDEV bmi088_a SPI3 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
 # alternative to bmi088