diff --git a/libraries/AP_Compass/AP_Compass_AK09916.cpp b/libraries/AP_Compass/AP_Compass_AK09916.cpp
index e4bb9eece6..fcbd93fe16 100644
--- a/libraries/AP_Compass/AP_Compass_AK09916.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK09916.cpp
@@ -168,8 +168,15 @@ fail:
     return nullptr;
 }
 
+// un-named, assume SPI for compat
 AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(uint8_t inv2_instance,
                                                      enum Rotation rotation)
+{  
+    return probe_ICM20948_SPI(inv2_instance,rotation);
+}
+
+AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_SPI(uint8_t inv2_instance,
+                                                     enum Rotation rotation)
 {
 #if HAL_INS_ENABLED
     AP_InertialSensor &ins = AP::ins();
@@ -192,6 +199,26 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(uint8_t inv2_instance,
 #endif
 }
 
+AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_I2C(uint8_t inv2_instance,
+                                                     enum Rotation rotation)
+{
+    AP_InertialSensor &ins = AP::ins();
+
+    AP_AK09916_BusDriver *bus =
+        new AP_AK09916_BusDriver_Auxiliary(ins, HAL_INS_INV2_I2C, inv2_instance, HAL_COMPASS_AK09916_I2C_ADDR);
+    if (!bus) {
+        return nullptr;
+    }
+
+    AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(bus, false, rotation);
+    if (!sensor || !sensor->init()) {
+        delete sensor;
+        return nullptr;
+    }
+
+    return sensor;
+}
+
 bool AP_Compass_AK09916::init()
 {
     AP_HAL::Semaphore *bus_sem = _bus->get_semaphore();
diff --git a/libraries/AP_Compass/AP_Compass_AK09916.h b/libraries/AP_Compass/AP_Compass_AK09916.h
index a15e5ff220..bfc40a002b 100644
--- a/libraries/AP_Compass/AP_Compass_AK09916.h
+++ b/libraries/AP_Compass/AP_Compass_AK09916.h
@@ -54,8 +54,13 @@ public:
                                              bool force_external,
                                              enum Rotation rotation);
 
-    /* Probe for AK09916 on auxiliary bus of ICM20948, connected through SPI */
-    static AP_Compass_Backend *probe_ICM20948(uint8_t mpu9250_instance,
+    /* Probe for AK09916 on auxiliary bus of ICM20948, connected through SPI by default */
+    static AP_Compass_Backend *probe_ICM20948(uint8_t mpu9250_instance, enum Rotation rotation);
+    static AP_Compass_Backend *probe_ICM20948_SPI(uint8_t mpu9250_instance,
+                                             enum Rotation rotation);
+
+	/* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
+    static AP_Compass_Backend *probe_ICM20948_I2C(uint8_t mpu9250_instance,
                                              enum Rotation rotation);
 
     static constexpr const char *name = "AK09916";