diff --git a/src/modules/sih/sih.cpp b/src/modules/sih/sih.cpp
index ff4f9292f0..5686182dca 100644
--- a/src/modules/sih/sih.cpp
+++ b/src/modules/sih/sih.cpp
@@ -125,9 +125,11 @@ void Sih::Run()
 	_px4_gyro.update(_now, _gyro(0), _gyro(1), _gyro(2));
 
 	// magnetometer published at 50 Hz
-	if (_now - _mag_time >= 20_ms) {
+	if (_now - _mag_time >= 20_ms
+	    && fabs(_mag_offset_x) < 10000
+	    && fabs(_mag_offset_y) < 10000
+	    && fabs(_mag_offset_z) < 10000) {
 		_mag_time = _now;
-
 		_px4_mag.update(_now, _mag(0), _mag(1), _mag(2));
 	}
 
@@ -186,6 +188,9 @@ void Sih::parameters_updated()
 
 	_gps_used = _sih_gps_used.get();
 	_baro_offset_m = _sih_baro_offset.get();
+	_mag_offset_x = _sih_mag_offset_x.get();
+	_mag_offset_y = _sih_mag_offset_y.get();
+	_mag_offset_z = _sih_mag_offset_z.get();
 }
 
 // initialization of the variables for the simulator
@@ -301,6 +306,9 @@ void Sih::reconstruct_sensors_signals()
 	_acc = _C_IB.transpose() * (_v_I_dot - Vector3f(0.0f, 0.0f, CONSTANTS_ONE_G)) + noiseGauss3f(0.5f, 1.7f, 1.4f);
 	_gyro = _w_B + noiseGauss3f(0.14f, 0.07f, 0.03f);
 	_mag = _C_IB.transpose() * _mu_I + noiseGauss3f(0.02f, 0.02f, 0.03f);
+	_mag(0) += _mag_offset_x;
+	_mag(1) += _mag_offset_y;
+	_mag(2) += _mag_offset_z;
 
 	// barometer
 	float altitude = (_H0 - _p_I(2)) + _baro_offset_m + generate_wgn() * 0.14f; // altitude with noise
diff --git a/src/modules/sih/sih.hpp b/src/modules/sih/sih.hpp
index 48484f38df..4f877669a3 100644
--- a/src/modules/sih/sih.hpp
+++ b/src/modules/sih/sih.hpp
@@ -176,7 +176,7 @@ private:
 	matrix::Vector3f _mu_I; // NED magnetic field in inertial frame [G]
 
 	int _gps_used;
-	float _baro_offset_m;
+	float _baro_offset_m, _mag_offset_x, _mag_offset_y, _mag_offset_z;
 
 	// parameters defined in sih_params.c
 	DEFINE_PARAMETERS(
@@ -202,6 +202,9 @@ private:
 		(ParamFloat<px4::params::SIH_LOC_MU_Y>) _sih_mu_y,
 		(ParamFloat<px4::params::SIH_LOC_MU_Z>) _sih_mu_z,
 		(ParamInt<px4::params::SIH_GPS_USED>) _sih_gps_used,
-		(ParamFloat<px4::params::SIH_BARO_OFFSET>) _sih_baro_offset
+		(ParamFloat<px4::params::SIH_BARO_OFFSET>) _sih_baro_offset,
+		(ParamFloat<px4::params::SIH_MAG_OFFSET_X>) _sih_mag_offset_x,
+		(ParamFloat<px4::params::SIH_MAG_OFFSET_Y>) _sih_mag_offset_y,
+		(ParamFloat<px4::params::SIH_MAG_OFFSET_Z>) _sih_mag_offset_z
 	)
 };
diff --git a/src/modules/sih/sih_params.c b/src/modules/sih/sih_params.c
index 517e52cf46..a0aefd5637 100644
--- a/src/modules/sih/sih_params.c
+++ b/src/modules/sih/sih_params.c
@@ -362,3 +362,32 @@ PARAM_DEFINE_INT32(SIH_GPS_USED, 10);
  * @group Simulation In Hardware
  */
 PARAM_DEFINE_FLOAT(SIH_BARO_OFFSET,  0.0f);
+
+/**
+ * magnetometer X offset in Gauss
+ *
+ * Absolute value superior to 10000 will disable magnetometer
+ *
+ * @unit gauss
+ * @group Simulation In Hardware
+ */
+PARAM_DEFINE_FLOAT(SIH_MAG_OFFSET_X,  0.0f);
+
+/**
+ * magnetometer Y offset in Gauss
+ *
+ * Absolute value superior to 10000 will disable magnetometer
+ *
+ * @unit gauss
+ * @group Simulation In Hardware
+ */
+PARAM_DEFINE_FLOAT(SIH_MAG_OFFSET_Y,  0.0f);
+/**
+ * magnetometer Z offset in Gauss
+ *
+ * Absolute value superior to 10000 will disable magnetometer
+ *
+ * @unit gauss
+ * @group Simulation In Hardware
+ */
+PARAM_DEFINE_FLOAT(SIH_MAG_OFFSET_Z,  0.0f);