diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
index 0021f9f3b9..6bb7c5ef5b 100644
--- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
@@ -275,10 +275,10 @@ void VehicleMagnetometer::UpdateMagCalibration()
 				const Vector3f bias_variance{estimator_sensor_bias.mag_bias_variance};
 
 				const bool valid = (hrt_elapsed_time(&estimator_sensor_bias.timestamp) < 1_s)
-						   && (estimator_sensor_bias.mag_device_id != 0) &&
-						   estimator_sensor_bias.mag_bias_valid &&
-						   estimator_sensor_bias.mag_bias_stable &&
-						   (bias_variance.min() > min_var_allowed) && (bias_variance.max() < max_var_allowed);
+						   && (estimator_sensor_bias.mag_device_id != 0)
+						   && estimator_sensor_bias.mag_bias_valid
+						   && estimator_sensor_bias.mag_bias_stable
+						   && (bias_variance.min() > min_var_allowed) && (bias_variance.max() < max_var_allowed);
 
 				if (valid) {
 					// find corresponding mag calibration
@@ -288,8 +288,20 @@ void VehicleMagnetometer::UpdateMagCalibration()
 							_mag_cal[i].device_id = estimator_sensor_bias.mag_device_id;
 
 							// readd estimated bias that was removed before publishing vehicle_magnetometer (_calibration_estimator_bias)
-							_mag_cal[i].offset = _calibration[mag_index].BiasCorrectedSensorOffset(bias + _calibration_estimator_bias[mag_index]);
+							const Vector3f mag_cal_offset = _calibration[mag_index].BiasCorrectedSensorOffset(bias +
+											_calibration_estimator_bias[mag_index]);
 
+							if ((mag_cal_offset - _mag_cal[i].offset).longerThan(0.001f)) {
+								const Vector3f mag_cal_orig{_calibration[mag_index].offset()};
+
+								PX4_DEBUG("%d (%" PRIu32 ") EST:%d offset: [%.2f, %.2f, %.2f]->[%.2f, %.2f, %.2f] (full [%.3f, %.3f, %.3f])",
+									  mag_index, _calibration[mag_index].device_id(), i,
+									  (double)mag_cal_orig(0), (double)mag_cal_orig(1), (double)mag_cal_orig(2),
+									  (double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2),
+									  (double)_mag_cal[i].offset(0), (double)_mag_cal[i].offset(1), (double)_mag_cal[i].offset(2));
+							}
+
+							_mag_cal[i].offset = mag_cal_offset;
 							_mag_cal[i].variance = bias_variance;
 
 							_in_flight_mag_cal_available = true;
@@ -340,6 +352,14 @@ void VehicleMagnetometer::UpdateMagCalibration()
 						_calibration_estimator_bias[mag_index].zero();
 
 						calibration_param_save_needed = true;
+
+					} else {
+						// new offset not saved
+						PX4_DEBUG("%d (%" PRIu32 ") EST:%d rejected: [%.3f, %.3f, %.3f]->[%.3f, %.3f, %.3f] (full [%.3f, %.3f, %.3f])",
+							  mag_index, _calibration[mag_index].device_id(), i,
+							  (double)mag_cal_orig(0), (double)mag_cal_orig(1), (double)mag_cal_orig(2),
+							  (double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2),
+							  (double)_mag_cal[i].offset(0), (double)_mag_cal[i].offset(1), (double)_mag_cal[i].offset(2));
 					}
 				}
 			}