diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 5c37547015..675e0f42e0 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -520,7 +520,7 @@ void Compass::_detect_backends(void)
                      AP_Compass_AK8963::name, false);
     }
     if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V4) {
-        _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0),
+        _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
                      AP_Compass_AK8963::name, false);
     }
     // also add any px4 level drivers (for canbus magnetometers)
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index 42a4c6fe94..9631c4123e 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -52,9 +52,11 @@ struct PACKED sample_regs {
 
 extern const AP_HAL::HAL &hal;
 
-AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus)
+AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
+                                     enum Rotation rotation)
     : AP_Compass_Backend(compass)
     , _bus(bus)
+    , _rotation(rotation)
 {
 }
 
@@ -64,14 +66,15 @@ AP_Compass_AK8963::~AP_Compass_AK8963()
 }
 
 AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass,
-                                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+                                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                                             enum Rotation rotation)
 {
     AP_AK8963_BusDriver *bus = new AP_AK8963_BusDriver_HALDevice(std::move(dev));
     if (!bus) {
         return nullptr;
     }
 
-    AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus);
+    AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus, rotation);
     if (!sensor || !sensor->init()) {
         delete sensor;
         return nullptr;
@@ -81,17 +84,19 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass,
 }
 
 AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass,
-                                                     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
+                                                     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                                                     enum Rotation rotation)
 {
     AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
 
     /* Allow MPU9250 to shortcut auxiliary bus and host bus */
     ins.detect_backends();
 
-    return probe(compass, std::move(dev));
+    return probe(compass, std::move(dev), rotation);
 }
 
-AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, uint8_t mpu9250_instance)
+AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, uint8_t mpu9250_instance,
+                                                     enum Rotation rotation)
 {
     AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
 
@@ -101,7 +106,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, uint8_t m
         return nullptr;
     }
 
-    AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus);
+    AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus, rotation);
     if (!sensor || !sensor->init()) {
         delete sensor;
         return nullptr;
@@ -149,6 +154,8 @@ bool AP_Compass_AK8963::init()
     /* register the compass instance in the frontend */
     _compass_instance = register_compass();
 
+    set_rotation(_compass_instance, _rotation);
+    
     _bus->set_device_type(DEVTYPE_AK8963);
     set_dev_id(_compass_instance, _bus->get_bus_id());
 
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h
index 943cb1f863..e8d106bfac 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.h
+++ b/libraries/AP_Compass/AP_Compass_AK8963.h
@@ -19,14 +19,17 @@ class AP_Compass_AK8963 : public AP_Compass_Backend
 public:
     /* Probe for AK8963 standalone on I2C bus */
     static AP_Compass_Backend *probe(Compass &compass,
-                                     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+                                     AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                                     enum Rotation rotation = ROTATION_NONE);
 
     /* Probe for AK8963 on auxiliary bus of MPU9250, connected through I2C */
     static AP_Compass_Backend *probe_mpu9250(Compass &compass,
-                                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
+                                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
+                                             enum Rotation rotation = ROTATION_NONE);
 
     /* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */
-    static AP_Compass_Backend *probe_mpu9250(Compass &compass, uint8_t mpu9250_instance);
+    static AP_Compass_Backend *probe_mpu9250(Compass &compass, uint8_t mpu9250_instance,
+                                             enum Rotation rotation = ROTATION_NONE);
 
     static constexpr const char *name = "AK8963";
 
@@ -36,7 +39,8 @@ public:
     void read() override;
 
 private:
-    AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus);
+    AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
+                      enum Rotation rotation = ROTATION_NONE);
 
     void _make_factory_sensitivity_adjustment(Vector3f &field) const;
     void _make_adc_sensitivity_adjustment(Vector3f &field) const;
@@ -61,6 +65,7 @@ private:
     uint8_t _compass_instance;
     bool _initialized;
     bool _timesliced;
+    enum Rotation _rotation;
 };
 
 class AP_AK8963_BusDriver