diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 37da3759ff..987c3479da 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -421,6 +421,13 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Increment: 1
     // @User: Advanced
     AP_GROUPINFO("OFFS_MAX", 31, Compass, _offset_max, AP_COMPASS_OFFSETS_MAX_DEFAULT),
+
+    // @Param: TYPEMASK
+    // @DisplayName: Compass disable driver type mask
+    // @Description: This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
+    // @Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,10:QFLIGHT,11:UAVCAN,12:QMC5883
+    // @User: Advanced
+    AP_GROUPINFO("TYPEMASK", 33, Compass, _driver_type_mask, 0),
     
     AP_GROUPEND
 };
@@ -494,6 +501,15 @@ bool Compass::_add_backend(AP_Compass_Backend *backend, const char *name, bool e
     return true;
 }
 
+/*
+  return true if a driver type is enabled
+ */
+bool Compass::_driver_enabled(enum DriverType driver_type)
+{
+    uint32_t mask = (1U<<uint8_t(driver_type));
+    return (mask & uint32_t(_driver_type_mask.get())) == 0;
+}
+
 /*
   detect available backends for this board
  */
@@ -504,12 +520,19 @@ void Compass::_detect_backends(void)
         return;
     }
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
+        // default to disabling LIS3MDL on pixhawk2 due to hardware issue
+        _driver_type_mask.set_default(1U<<DRIVER_LIS3MDL);
+    }
+#endif
+    
 /*
   macro to add a backend with check for too many backends or compass
   instances. We don't try to start more than the maximum allowed
  */
-#define ADD_BACKEND(backend, name, external) \
-    do { _add_backend(backend, name, external);     \
+#define ADD_BACKEND(driver_type, backend, name, external)   \
+    do { if (_driver_enabled(driver_type)) { _add_backend(backend, name, external); } \
        if (_backend_count == COMPASS_MAX_BACKEND || \
            _compass_count == COMPASS_MAX_INSTANCES) { \
           return; \
@@ -517,22 +540,12 @@ void Compass::_detect_backends(void)
     } while (0)
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    ADD_BACKEND(new AP_Compass_SITL(*this), nullptr, false);
+    ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL(*this), nullptr, false);
     return;
 #endif
     
-#if HAL_WITH_UAVCAN
-    bool added;
-    do {
-        added = _add_backend(AP_Compass_UAVCAN::probe(*this), "UAVCAN", true);
-        if (_backend_count == COMPASS_MAX_BACKEND || _compass_count == COMPASS_MAX_INSTANCES) {
-            return;
-        }
-    } while (added);
-#endif
-
 #if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
-    ADD_BACKEND(AP_Compass_HIL::detect(*this), nullptr, false);
+    ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
     switch (AP_BoardConfig::get_board_type()) {
     case AP_BoardConfig::PX4_BOARD_PX4V1:
@@ -544,61 +557,60 @@ void Compass::_detect_backends(void)
     case AP_BoardConfig::PX4_BOARD_PIXRACER: {
         bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
         // external i2c bus
-        ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR),
-                                               true, ROTATION_ROLL_180),
-                     AP_Compass_HMC5843::name, true);
+        ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR),
+                                                              true, ROTATION_ROLL_180),
+                    AP_Compass_HMC5843::name, true);
         // internal i2c bus
-        ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
+        ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
                                               both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
                     AP_Compass_HMC5843::name, both_i2c_external);
+
         //external i2c bus
-        ADD_BACKEND(AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
+        ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
                 								true,ROTATION_ROLL_180),
         			AP_Compass_QMC5883L::name, true);
         //internal i2c bus
-        ADD_BACKEND(AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
+        ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
                 								both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
         			AP_Compass_QMC5883L::name,both_i2c_external);
         
 #if !HAL_MINIMIZE_FEATURES
         // AK09916 on ICM20948
-        ADD_BACKEND(AP_Compass_AK09916::probe_ICM20948(*this,
-                                                       hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),
-                                                       hal.i2c_mgr->get_device(1, HAL_COMPASS_ICM20948_I2C_ADDR),
-                                                       true, ROTATION_NONE),
+        ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
+                                                                        hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),
+                                                                        hal.i2c_mgr->get_device(1, HAL_COMPASS_ICM20948_I2C_ADDR),
+                                                                        true, ROTATION_NONE),
                      AP_Compass_AK09916::name, true);
 
-        ADD_BACKEND(AP_Compass_AK09916::probe_ICM20948(*this,
-                                                       hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
-                                                       hal.i2c_mgr->get_device(0, HAL_COMPASS_ICM20948_I2C_ADDR),
-                                                       both_i2c_external, ROTATION_NONE),
+        ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
+                                                                        hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
+                                                                        hal.i2c_mgr->get_device(0, HAL_COMPASS_ICM20948_I2C_ADDR),
+                                                                        both_i2c_external, ROTATION_NONE),
                      AP_Compass_AK09916::name, true);
         
-#if 0
-        // lis3mdl - this is disabled for now due to an errata on pixhawk2 GPS unit, pending investigation
-        ADD_BACKEND(AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_LIS3MDL_I2C_ADDR),
-                                               true, ROTATION_YAW_90),
-                     AP_Compass_LIS3MDL::name, true);
-        ADD_BACKEND(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);
-#endif
-
+        // lis3mdl
+        ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_LIS3MDL_I2C_ADDR),
+                                                              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_ADDR),
+                                                              both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
+                    AP_Compass_LIS3MDL::name, both_i2c_external);
+        
         // AK09916
-        ADD_BACKEND(AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),
-                                               true, ROTATION_YAW_270),
-                     AP_Compass_AK09916::name, true);
-        ADD_BACKEND(AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
-                                              both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
-                     AP_Compass_AK09916::name, both_i2c_external);
+        ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),
+                                                              true, ROTATION_YAW_270),
+                    AP_Compass_AK09916::name, true);
+        ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
+                                                              both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
+                    AP_Compass_AK09916::name, both_i2c_external);
 #endif // HAL_MINIMIZE_FEATURES
         }
         break;
 
     case AP_BoardConfig::PX4_BOARD_AEROFC:
 #ifdef HAL_COMPASS_IST8310_I2C_BUS
-        ADD_BACKEND(AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
-                                              ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
+        ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
+                                                              ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
 #endif
         break;
     default:
@@ -606,43 +618,43 @@ void Compass::_detect_backends(void)
     }
     switch (AP_BoardConfig::get_board_type()) {
     case AP_BoardConfig::PX4_BOARD_PIXHAWK:
-        ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
-                                               false, ROTATION_PITCH_180),
-                     AP_Compass_HMC5843::name, false);
-        ADD_BACKEND(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
-                     AP_Compass_LSM303D::name, false);
+        ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
+                                                              false, ROTATION_PITCH_180),
+                    AP_Compass_HMC5843::name, false);
+        ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
+                    AP_Compass_LSM303D::name, false);
         break;
 
     case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
-        ADD_BACKEND(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
-                     AP_Compass_LSM303D::name, false);
+        ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
+                    AP_Compass_LSM303D::name, false);
         // we run the AK8963 only on the 2nd MPU9250, which leaves the
         // first MPU9250 to run without disturbance at high rate
-        ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
-                     AP_Compass_AK8963::name, false);
+        ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
+                    AP_Compass_AK8963::name, false);
         break;
 
     case AP_BoardConfig::PX4_BOARD_PIXRACER:
-        ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
-                                               false, ROTATION_PITCH_180),
-                     AP_Compass_HMC5843::name, false);
-        ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
-                     AP_Compass_AK8963::name, false);
+        ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
+                                                              false, ROTATION_PITCH_180),
+                    AP_Compass_HMC5843::name, false);
+        ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
+                    AP_Compass_AK8963::name, false);
         break;
 
     case AP_BoardConfig::PX4_BOARD_PHMINI:
-        ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180),
-                     AP_Compass_AK8963::name, false);
+        ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180),
+                    AP_Compass_AK8963::name, false);
         break;
 
     case AP_BoardConfig::PX4_BOARD_AUAV21:
-        ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
-                     AP_Compass_AK8963::name, false);
+        ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
+                    AP_Compass_AK8963::name, false);
         break;
         
     case AP_BoardConfig::PX4_BOARD_PH2SLIM:
-        ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_YAW_270),
-                     AP_Compass_AK8963::name, false);
+        ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_YAW_270),
+                    AP_Compass_AK8963::name, false);
         break;
 
     default:
@@ -650,29 +662,29 @@ void Compass::_detect_backends(void)
     }
 
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
-    ADD_BACKEND(AP_Compass_QURT::detect(*this), nullptr, false);
+    ADD_BACKEND(DRIVER_QFLIGHT, AP_Compass_QURT::detect(*this), nullptr, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RASPILOT
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
-                 AP_Compass_HMC5843::name, true);
-    ADD_BACKEND(AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")),
-                 AP_Compass_LSM303D::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
+                AP_Compass_HMC5843::name, true);
+    ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")),
+                AP_Compass_LSM303D::name, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
                 AP_Compass_HMC5843::name, false);
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QFLIGHT
-    ADD_BACKEND(AP_Compass_QFLIGHT::detect(*this));
+    ADD_BACKEND(DRIVER_QFLIGHT, AP_Compass_QFLIGHT::detect(*this));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
-                 AP_Compass_HMC5843::name, true);
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
-                 AP_Compass_AK8963::name, false);
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 1),
-                 AP_Compass_AK8963::name, true);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
+                AP_Compass_HMC5843::name, true);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
+                AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1),
+                AP_Compass_AK8963::name, true);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
-    ADD_BACKEND(AP_Compass_HMC5843::probe_mpu6000(*this),
-                 AP_Compass_HMC5843::name, false);
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this,
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(*this),
+                AP_Compass_HMC5843::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this,
                      Linux::I2CDeviceManager::from(hal.i2c_mgr)->get_device(
                          { /* UEFI with lpss set to ACPI */
                            "platform/80860F41:05",
@@ -682,58 +694,70 @@ void Compass::_detect_backends(void)
                      true),
                  AP_Compass_HMC5843::name, true);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2
-    ADD_BACKEND(AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
-                 AP_Compass_LSM9DS1::name, false);
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
-                 AP_Compass_AK8963::name, false);
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
-                 AP_Compass_HMC5843::name, true);
+    ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
+                AP_Compass_LSM9DS1::name, false);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
+                AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
+                AP_Compass_HMC5843::name, true);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
-                 AP_Compass_AK8963::name, false);
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
-                 AP_Compass_HMC5843::name, true);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
+                AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
+                AP_Compass_HMC5843::name, true);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
-                 AP_Compass_AK8963::name, false);
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
-                 AP_Compass_HMC5843::name, true);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
+                AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
+                AP_Compass_HMC5843::name, true);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
-                 AP_Compass_AK8963::name, false);
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
+                AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
                  AP_Compass_HMC5843::name, true);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
-                 AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
+                AP_Compass_AK8963::name, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
-                 AP_Compass_HMC5843::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
+                AP_Compass_HMC5843::name, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
-    ADD_BACKEND(AP_Compass_HMC5843::probe_mpu6000(*this),
-                 AP_Compass_HMC5843::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(*this),
+                AP_Compass_HMC5843::name, false);
 #elif  HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C
-    ADD_BACKEND(AP_Compass_AK8963::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
-                 AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
+                AP_Compass_AK8963::name, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250_I2C
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
-                 AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
+                AP_Compass_AK8963::name, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AERO
-    ADD_BACKEND(AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
-                 AP_Compass_BMM150::name, false);
+    ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
+                AP_Compass_BMM150::name, false);
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
-    ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
-                 AP_Compass_HMC5843::name, false);
-    ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
-                 AP_Compass_AK8963::name, false);
-    ADD_BACKEND(AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")),
-                 AP_Compass_LSM9DS1::name, false);
+    ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
+                AP_Compass_HMC5843::name, false);
+    ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
+                AP_Compass_AK8963::name, false);
+    ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")),
+                AP_Compass_LSM9DS1::name, false);
 #else
     #error Unrecognised HAL_COMPASS_TYPE setting
 #endif
 
+#if HAL_WITH_UAVCAN
+    if (_driver_enabled(DRIVER_UAVCAN)) {
+        bool added;
+        do {
+            added = _add_backend(AP_Compass_UAVCAN::probe(*this), "UAVCAN", true);
+            if (_backend_count == COMPASS_MAX_BACKEND || _compass_count == COMPASS_MAX_INSTANCES) {
+                return;
+            }
+        } while (added);
+    }
+#endif
+
     if (_backend_count == 0 ||
         _compass_count == 0) {
         hal.console->printf("No Compass backends available\n");
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 9c47cdb0cb..9277b7ef45 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -320,6 +320,26 @@ private:
     bool _cal_complete_requires_reboot;
     bool _cal_has_run;
 
+    // enum of drivers for COMPASS_TYPEMASK
+    enum DriverType {
+        DRIVER_HMC5883  =0,
+        DRIVER_LSM303D  =1,
+        DRIVER_AK8963   =2,
+        DRIVER_BMM150   =3,
+        DRIVER_LSM9DS1  =4,
+        DRIVER_LIS3MDL  =5,
+        DRIVER_AK09916  =6,
+        DRIVER_IST8310  =7,
+        DRIVER_ICM20948 =8,
+        DRIVER_MMC3416  =9,
+        DRIVER_QFLIGHT  =10,
+        DRIVER_UAVCAN   =11,
+        DRIVER_QMC5883  =12,
+        DRIVER_SITL     =13,
+    };
+
+    bool _driver_enabled(enum DriverType driver_type);
+    
     // backend objects
     AP_Compass_Backend *_backends[COMPASS_MAX_BACKEND];
     uint8_t     _backend_count;
@@ -398,4 +418,7 @@ private:
     bool _hil_mode:1;
 
     AP_Float _calibration_threshold;
+
+    // mask of driver types to not load. Bit positions match DEVTYPE_ in backend
+    AP_Int32 _driver_type_mask;
 };