diff --git a/ROMFS/cannode/init.d/rcS b/ROMFS/cannode/init.d/rcS
index 0f88c7a70ad..73fc7d0c595 100644
--- a/ROMFS/cannode/init.d/rcS
+++ b/ROMFS/cannode/init.d/rcS
@@ -107,6 +107,8 @@ then
 	# conservative mag bias estimation
 	param set-default MBE_LEARN_GAIN 5
 	param set-default IMU_GYRO_CUTOFF 20
+	# nodes have no GCS calibration flow, persist the estimated bias
+	param set-default SENS_MAG_AUTOCAL 1
 	mag_bias_estimator start
 fi
 
diff --git a/src/modules/sensors/sensor_params_mag.yaml b/src/modules/sensors/sensor_params_mag.yaml
index e5bbdf8d2d6..85c0dbc6b55 100644
--- a/src/modules/sensors/sensor_params_mag.yaml
+++ b/src/modules/sensors/sensor_params_mag.yaml
@@ -78,7 +78,9 @@ parameters:
       description:
         short: Magnetometer auto calibration
         long: Automatically initialize magnetometer calibration from bias estimate
-          if available.
+          if available. The estimate only captures hard-iron offsets, so a full
+          calibration is still recommended. Mainly intended for remote nodes
+          (e.g. CAN GPS units) that cannot be calibrated from a ground station.
       category: System
       type: boolean
-      default: 1
+      default: 0