diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 6050790c8f..a32f6b040b 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -4,6 +4,7 @@
 #endif
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_Logger/AP_Logger.h>
 
 #include "AP_Compass_SITL.h"
 #include "AP_Compass_AK8963.h"
@@ -476,7 +477,14 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Description: The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means "don't care."
     // @User: Advanced
     AP_GROUPINFO("EXP_DID3", 38, Compass, _state[2].expected_dev_id, -1),
-    
+
+    // @Param: ENABLE
+    // @DisplayName: Enable Compass
+    // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
+    // @User: Standard
+    // @Values: 0:Disabled,1:Enabled
+    AP_GROUPINFO("ENABLE", 39, Compass, _enabled, 1),
+
     AP_GROUPEND
 };
 
@@ -500,6 +508,10 @@ Compass::Compass(void)
 //
 void Compass::init()
 {
+    if (!AP::compass().enabled()) {
+        return;
+    }
+
     if (_compass_count == 0) {
         // detect available backends. Only called once
         _detect_backends();
@@ -517,6 +529,17 @@ void Compass::init()
     for (uint8_t i=_compass_count; i<COMPASS_MAX_INSTANCES; i++) {
         _state[i].dev_id.set(0);
     }
+
+    // check that we are actually working before passing the compass
+    // through to ARHS to use.
+    if (!read()) {
+        _enabled = false;
+        hal.console->printf("Compass initialisation failed\n");
+        AP::logger().Write_Error(LogErrorSubsystem::COMPASS, LogErrorCode::FAILED_TO_INITIALISE);
+        return;
+    }
+
+    AP::ahrs().set_compass(this);
 }
 
 //  Register a new compass instance
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 2781e5842c..2bf49c4858 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -76,6 +76,8 @@ public:
     ///
     bool read();
 
+    bool enabled() const { return _enabled; }
+
     /// Calculate the tilt-compensated heading_ variables.
     ///
     /// @param dcm_matrix			The current orientation rotation matrix
@@ -388,6 +390,9 @@ private:
     AP_Compass_Backend *_backends[COMPASS_MAX_BACKEND];
     uint8_t     _backend_count;
 
+    // whether to enable the compass drivers at all
+    AP_Int8     _enabled;
+
     // number of registered compasses.
     uint8_t     _compass_count;