diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index e48691e6c5..9a35ece6de 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -418,13 +418,25 @@ uint8_t Compass::register_compass(void)
     return _compass_count++;
 }
 
-void Compass::_add_backend(AP_Compass_Backend *backend)
+bool Compass::_add_backend(AP_Compass_Backend *backend, const char *name, bool external)
 {
-    if (!backend)
-        return;
-    if (_backend_count == COMPASS_MAX_BACKEND)
+    if (name != nullptr) {
+        hal.console->printf("%s: %s compass %sdetected\n", name,
+                            external ? "External" : "Onboard",
+                            backend == nullptr ? "not " : "");
+    }
+
+    if (!backend) {
+        return false;
+    }
+
+    if (_backend_count == COMPASS_MAX_BACKEND) {
         AP_HAL::panic("Too many compass backends");
+    }
+
     _backends[_backend_count++] = backend;
+
+    return true;
 }
 
 /*
@@ -433,118 +445,84 @@ void Compass::_add_backend(AP_Compass_Backend *backend)
 void Compass::_detect_backends(void)
 {
     if (_hil_mode) {
-        _add_backend(AP_Compass_HIL::detect(*this));
+        _add_backend(AP_Compass_HIL::detect(*this), nullptr, false);
         return;
     }
 
 #if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
-    _add_backend(AP_Compass_HIL::detect(*this));
+    _add_backend(AP_Compass_HIL::detect(*this), nullptr, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
-    _add_backend(AP_Compass_PX4::detect(*this));
+    _add_backend(AP_Compass_PX4::detect(*this), nullptr, false);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
-    _add_backend(AP_Compass_QURT::detect(*this));
+    _add_backend(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));
-    _add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")));
+    _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);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
-    // detect_mpu9250() failed will cause panic if no actual mpu9250 backend,
-    // in BH, only one compass should be detected
-    AP_Compass_Backend *backend = AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR));
-    if (backend) {
-        _add_backend(backend);
-    } else {
-        _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0));
+    // In BH, only one compass should be detected
+    bool ret = _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);
+    if (!ret) {
+        _add_backend(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));
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI
-    AP_Compass_Backend *backend = AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR));
-    if (backend) {
-        _add_backend(backend);
-        hal.console->printf("HMC5843: External compass detected\n");
-    } else {
-        hal.console->printf("HMC5843: External compass not detected\n");
-    }
-
-    backend = AP_Compass_AK8963::probe_mpu9250(*this, 0);
-    if (backend) {
-        _add_backend(backend);
-        hal.console->printf("AK8953: Onboard compass detected\n");
-    } else {
-        hal.console->printf("AK8953: Onboard compass not detected\n");
-    }
-
-    backend = AP_Compass_AK8963::probe_mpu9250(*this, 1);
-    if (backend) {
-        _add_backend(backend);
-        hal.console->printf("AK8953: External compass detected\n");
-    } else {
-        hal.console->printf("AK8953: External compass not detected\n");
-    }
+    _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);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
-    _add_backend(AP_Compass_HMC5843::probe_mpu6000(*this));
+    _add_backend(AP_Compass_HMC5843::probe_mpu6000(*this),
+                 AP_Compass_HMC5843::name, false);
     _add_backend(AP_Compass_HMC5843::probe(*this,
-        Linux::I2CDeviceManager::from(hal.i2c_mgr)->get_device(
-            { /* UEFI with lpss set to ACPI */
-              "platform/80860F41:05",
-              /* UEFI with lpss set to PCI */
-              "pci0000:00/0000:00:18.6" },
-            HAL_COMPASS_HMC5843_I2C_ADDR),
-        true));
+                     Linux::I2CDeviceManager::from(hal.i2c_mgr)->get_device(
+                         { /* UEFI with lpss set to ACPI */
+                           "platform/80860F41:05",
+                           /* UEFI with lpss set to PCI */
+                           "pci0000:00/0000:00:18.6" },
+                         HAL_COMPASS_HMC5843_I2C_ADDR),
+                     true),
+                 AP_Compass_HMC5843::name, true);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2
-    AP_Compass_Backend *backend = AP_Compass_AK8963::probe_mpu9250(*this, 0);
-    if (backend) {
-        _add_backend(backend);
-        hal.console->printf("AK8953: Compass detected\n");
-    } else {
-        hal.console->printf("AK8953: Compass not detected\n");
-    }
-
-    backend = AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"));
-    if (backend) {
-        _add_backend(backend);
-        hal.console->printf("LSM9DS1: Compass detected\n");
-    } else {
-        hal.console->printf("LSM9DS1: Compass not detected\n");
-    }
-
-    backend = AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR));
-    if (backend) {
-        _add_backend(backend);
-        hal.console->printf("HMC5843: External compass detected\n");
-    } else {
-        hal.console->printf("HMC5843: External compass not detected\n");
-    }
+    _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(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
-    AP_Compass_Backend *backend = AP_Compass_AK8963::probe_mpu9250(*this, 0);
-    if (backend) {
-        _add_backend(backend);
-        hal.console->printf("AK8953: Compass detected\n");
-    } else {
-        hal.console->printf("AK8953: Compass not detected\n");
-    }
-
-    backend = AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR));
-    if (backend) {
-        _add_backend(backend);
-        hal.console->printf("HMC5843: External compass detected\n");
-    } else {
-        hal.console->printf("HMC5843: External compass not detected\n");
-    }
+    _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);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
-    _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0));
+    _add_backend(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)));
+    _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);
 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
-    _add_backend(AP_Compass_HMC5843::probe_mpu6000(*this));
+    _add_backend(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)));
+    _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);
 #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)));
+    _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);
 #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)));
-    _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0));
-    _add_backend(AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")));
+    _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);
 #else
     #error Unrecognised HAL_COMPASS_TYPE setting
 #endif
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index e0037c0f33..0d3c0dae4b 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -313,7 +313,7 @@ private:
     uint8_t register_compass(void);
 
     // load backend drivers
-    void _add_backend(AP_Compass_Backend *backend);
+    bool _add_backend(AP_Compass_Backend *backend, const char *name, bool external);
     void _detect_backends(void);
 
     //keep track of number of calibration reports sent