diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 0a9959ff9b..302e848b14 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -610,6 +610,13 @@ void Compass::_detect_backends(void)
         ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_LIS3MDL_I2C_ADDR),
                                                               both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
                     AP_Compass_LIS3MDL::name, both_i2c_external);
+
+        ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
+                                                              true, ROTATION_YAW_90),
+                    AP_Compass_LIS3MDL::name, true);
+        ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
+                                                              both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
+                    AP_Compass_LIS3MDL::name, both_i2c_external);
         
         // AK09916. This can be found twice, due to the ICM20948 i2c bus pass-thru, so we need to be careful to avoid that
         if (!_have_driver(AP_HAL::Device::BUS_TYPE_I2C, 1, HAL_COMPASS_AK09916_I2C_ADDR, AP_Compass_Backend::DEVTYPE_ICM20948)) {
diff --git a/libraries/AP_Compass/AP_Compass_LIS3MDL.h b/libraries/AP_Compass/AP_Compass_LIS3MDL.h
index 327ef95904..bb5b0f1249 100644
--- a/libraries/AP_Compass/AP_Compass_LIS3MDL.h
+++ b/libraries/AP_Compass/AP_Compass_LIS3MDL.h
@@ -23,10 +23,13 @@
 #include "AP_Compass_Backend.h"
 
 #ifndef HAL_COMPASS_LIS3MDL_I2C_ADDR
-// this can also be on 0x1e
 # define HAL_COMPASS_LIS3MDL_I2C_ADDR 0x1c
 #endif
 
+#ifndef HAL_COMPASS_LIS3MDL_I2C_ADDR2
+# define HAL_COMPASS_LIS3MDL_I2C_ADDR2 0x1e
+#endif
+
 class AP_Compass_LIS3MDL : public AP_Compass_Backend
 {
 public: