diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index ebda317655..cf7a21bb15 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -576,10 +576,13 @@ void Compass::_detect_backends(void)
         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(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);
+
+        if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2) {
+            // internal i2c bus
+            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(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
@@ -708,6 +711,14 @@ void Compass::_detect_backends(void)
                     AP_Compass_AK8963::name, false);
         break;
 
+    case AP_BoardConfig::PX4_BOARD_MINDPXV2:
+        ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
+                                                              false, ROTATION_YAW_90),
+                    AP_Compass_HMC5843::name, false);
+        ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270),
+                    AP_Compass_LSM303D::name, false);
+        break;
+        
     default:
         break;
     }