diff --git a/libraries/AP_Compass/AP_Compass_DroneCAN.cpp b/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
index 8563dd480b..3f29ec5706 100644
--- a/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
+++ b/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
@@ -22,6 +22,7 @@
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_DroneCAN/AP_DroneCAN.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_Logger/AP_Logger.h>
 #include <SITL/SITL.h>
 
 extern const AP_HAL::HAL& hal;
@@ -48,6 +49,12 @@ void AP_Compass_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
     if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_magnetic_field_2, ap_dronecan->get_driver_index()) == nullptr) {
         AP_BoardConfig::allocation_error("mag2_sub");
     }
+
+#if AP_COMPASS_DRONECAN_HIRES_ENABLED
+    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_magnetic_field_hires, ap_dronecan->get_driver_index()) == nullptr) {
+        AP_BoardConfig::allocation_error("mag3_sub");
+    }
+#endif
 }
 
 AP_Compass_Backend* AP_Compass_DroneCAN::probe(uint8_t index)
@@ -198,6 +205,35 @@ void AP_Compass_DroneCAN::handle_magnetic_field_2(AP_DroneCAN *ap_dronecan, cons
     }
 }
 
+#if AP_COMPASS_DRONECAN_HIRES_ENABLED
+/*
+  just log hires magnetic field data for magnetic surveying
+ */
+void AP_Compass_DroneCAN::handle_magnetic_field_hires(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer,
+                                                      const dronecan_sensors_magnetometer_MagneticFieldStrengthHiRes &msg)
+{
+// @LoggerMessage: MAGH
+// @Description: Magnetometer high resolution data
+// @Field: TimeUS: Time since system startup
+// @Field: Node: CAN node
+// @Field: Sensor: sensor ID on node
+// @Field: Bus: CAN bus
+// @Field: Mx: X axis field
+// @Field: My: y axis field
+// @Field: Mz: z axis field
+
+    // just log it for now
+    AP::logger().WriteStreaming("MAGH", "TimeUS,Node,Sensor,Bus,Mx,My,Mz", "s#-----", "F-----", "QBBBfff",
+                                transfer.timestamp_usec,
+                                transfer.source_node_id,
+                                ap_dronecan->get_driver_index(),
+                                msg.sensor_id,
+                                msg.magnetic_field_ga[0]*1000,
+                                msg.magnetic_field_ga[1]*1000,
+                                msg.magnetic_field_ga[2]*1000);
+}
+#endif
+
 void AP_Compass_DroneCAN::read(void)
 {
     drain_accumulated_samples(_instance);
diff --git a/libraries/AP_Compass/AP_Compass_DroneCAN.h b/libraries/AP_Compass/AP_Compass_DroneCAN.h
index f72d799579..7a50f41406 100644
--- a/libraries/AP_Compass/AP_Compass_DroneCAN.h
+++ b/libraries/AP_Compass/AP_Compass_DroneCAN.h
@@ -19,6 +19,9 @@ public:
     static uint32_t get_detected_devid(uint8_t index) { return _detected_modules[index].devid; }
     static void handle_magnetic_field(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_ahrs_MagneticFieldStrength& msg);
     static void handle_magnetic_field_2(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_ahrs_MagneticFieldStrength2 &msg);
+#if AP_COMPASS_DRONECAN_HIRES_ENABLED
+    static void handle_magnetic_field_hires(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_magnetometer_MagneticFieldStrengthHiRes &msg);
+#endif
 
 private:
     bool init();
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index f032d0f9f8..c6c236db17 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -46,6 +46,10 @@
 #define AP_COMPASS_DRONECAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
 #endif
 
+#ifndef AP_COMPASS_DRONECAN_HIRES_ENABLED
+#define AP_COMPASS_DRONECAN_HIRES_ENABLED 0
+#endif
+
 // i2c-based compasses:
 #ifndef AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #define AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED AP_COMPASS_BACKEND_DEFAULT_ENABLED