diff --git a/conf/messages.xml b/conf/messages.xml
index ba9b5b9853..5dbf813330 100644
--- a/conf/messages.xml
+++ b/conf/messages.xml
@@ -1445,6 +1445,7 @@
       <field name="Hx"             type="float"/>
       <field name="Hy"             type="float"/>
       <field name="Hz"             type="float"/>
+      <field name="comp_id" type="uint8" values="NONE|GENERIC|GEOM|ICQ|ICE|FC|DCM|FINV|MLKF|GX3"/>
   </message>
 
   <message name="HFF" id="164">
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
index 383082ef4c..ce8d9c62ae 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl_wrapper.c
@@ -85,7 +85,7 @@ static void send_euler_int(struct transport_tx *trans, struct link_device *dev)
 static void send_geo_mag(struct transport_tx *trans, struct link_device *dev)
 {
   pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
-                        &ahrs_fc.mag_h.x, &ahrs_fc.mag_h.y, &ahrs_fc.mag_h.z);
+                        &ahrs_fc.mag_h.x, &ahrs_fc.mag_h.y, &ahrs_fc.mag_h.z, &ahrs_fc_id);
 }
 
 static void send_filter_status(struct transport_tx *trans, struct link_device *dev)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
index e8eebe41ee..c11e1ab417 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_invariant_wrapper.c
@@ -70,7 +70,7 @@ static void send_geo_mag(struct transport_tx *trans, struct link_device *dev)
   pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
                         &ahrs_float_inv.mag_h.x,
                         &ahrs_float_inv.mag_h.y,
-                        &ahrs_float_inv.mag_h.z);
+                        &ahrs_float_inv.mag_h.z, &ahrs_finv_id);
 }
 
 static void send_filter_status(struct transport_tx *trans, struct link_device *dev)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
index eeb12f26f8..39b1d01d8a 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf_wrapper.c
@@ -68,7 +68,7 @@ static void send_bias(struct transport_tx *trans, struct link_device *dev)
 static void send_geo_mag(struct transport_tx *trans, struct link_device *dev)
 {
   pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
-                        &ahrs_mlkf.mag_h.x, &ahrs_mlkf.mag_h.y, &ahrs_mlkf.mag_h.z);
+                        &ahrs_mlkf.mag_h.x, &ahrs_mlkf.mag_h.y, &ahrs_mlkf.mag_h.z, &ahrs_mlkf_id);
 }
 
 static void send_filter_status(struct transport_tx *trans, struct link_device *dev)
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
index 161b9409b6..12906ecdda 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat_wrapper.c
@@ -91,7 +91,7 @@ static void send_geo_mag(struct transport_tx *trans, struct link_device *dev)
   h_float.y = MAG_FLOAT_OF_BFP(ahrs_icq.mag_h.y);
   h_float.z = MAG_FLOAT_OF_BFP(ahrs_icq.mag_h.z);
   pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
-                        &h_float.x, &h_float.y, &h_float.z);
+                        &h_float.x, &h_float.y, &h_float.z, &ahrs_icq_id);
 }
 
 static void send_filter_status(struct transport_tx *trans, struct link_device *dev)