diff --git a/Tools/Replay/LR_MsgHandler.cpp b/Tools/Replay/LR_MsgHandler.cpp
index 49afa0cf57..f6ef67f386 100644
--- a/Tools/Replay/LR_MsgHandler.cpp
+++ b/Tools/Replay/LR_MsgHandler.cpp
@@ -281,8 +281,12 @@ void LR_MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uin
     require_field(msg, "Mag", mag);
     Vector3f mag_offset;
     require_field(msg, "Ofs", mag_offset);
+    uint32_t last_update_usec;
+    if (!field_value(msg, "S", last_update_usec)) {
+        last_update_usec = AP_HAL::micros();
+    }
 
-    compass.setHIL(compass_offset, mag - mag_offset);
+    compass.setHIL(compass_offset, mag - mag_offset, last_update_usec);
     // compass_offset is which compass we are setting info for;
     // mag_offset is a vector indicating the compass' calibration...
     compass.set_offsets(compass_offset, mag_offset);