diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 29c73c6a6f..fa32ebd4be 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -514,10 +514,10 @@ void Compass::_detect_backends(void)
                      AP_Compass_LSM303D::name, false);
     }
     if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) {
-        _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_PITCH_180),
-                     AP_Compass_AK8963::name, false);
         _add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
                      AP_Compass_LSM303D::name, false);
+        // we run the AK8963 only on the 2nd MPU9250, which leaves the
+        // first MPU9250 to run without disturbance at high rate
         _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
                      AP_Compass_AK8963::name, false);
     }