diff --git a/libraries/AP_Compass/AP_Compass_DroneCAN.cpp b/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
index 920a47a429..50008d8424 100644
--- a/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
+++ b/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
@@ -37,24 +37,16 @@ AP_Compass_DroneCAN::AP_Compass_DroneCAN(AP_DroneCAN* ap_dronecan, uint32_t devi
 {
 }
 
-void AP_Compass_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
+bool AP_Compass_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
 {
-    if (ap_dronecan == nullptr) {
-        return;
-    }
-    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_magnetic_field, ap_dronecan->get_driver_index()) == nullptr) {
-        AP_BoardConfig::allocation_error("mag_sub");
-    }
-
-    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_magnetic_field_2, ap_dronecan->get_driver_index()) == nullptr) {
-        AP_BoardConfig::allocation_error("mag2_sub");
-    }
+    const auto driver_index = ap_dronecan->get_driver_index();
 
+    return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_magnetic_field, driver_index) != nullptr)
+        && (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_magnetic_field_2, driver_index) != nullptr)
 #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");
-    }
+        && (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_magnetic_field_hires, driver_index) != nullptr)
 #endif
+    ;
 }
 
 AP_Compass_Backend* AP_Compass_DroneCAN::probe(uint8_t index)
diff --git a/libraries/AP_Compass/AP_Compass_DroneCAN.h b/libraries/AP_Compass/AP_Compass_DroneCAN.h
index 7a50f41406..927821e5ef 100644
--- a/libraries/AP_Compass/AP_Compass_DroneCAN.h
+++ b/libraries/AP_Compass/AP_Compass_DroneCAN.h
@@ -14,7 +14,7 @@ public:
 
     void        read(void) override;
 
-    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
+    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
     static AP_Compass_Backend* probe(uint8_t index);
     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);