diff --git a/conf/modules/baro_ets.xml b/conf/modules/baro_ets.xml
index 48b79418a0..4180dbb4c2 100644
--- a/conf/modules/baro_ets.xml
+++ b/conf/modules/baro_ets.xml
@@ -2,9 +2,25 @@
 
 <module name="baro_ets" dir="sensors">
   <doc>
-    <description>Baro ETS (I2C)</description>
-    <define name="BARO_ETS_I2C_DEV" value="i2cX" description="select i2c peripheral to use (default i2c0)"/>
-    <define name="BARO_ETS_SCALE" value="sensor scale factor"/>
+    <description>
+      Baro ETS (I2C).
+      Driver for the EagleTree Systems Baro Sensor.
+      Has only been tested with V3 of the sensor hardware.
+
+      Notes:
+      Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+      Sensor should be in the proprietary mode (default) and not in 3rd party mode.
+
+      Sensor module wire assignments:
+      - Red wire: 5V
+      - White wire: Ground
+      - Yellow wire: SDA
+      - Brown wire: SCL
+
+    </description>
+    <define name="BARO_ETS_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c0)"/>
+    <define name="BARO_ETS_SCALE" value="scale" description="sensor scale factor (default: 1.8)"/>
+    <define name="BARO_ETS_START_DELAY" value="delay" description="set initial start delay in seconds"/>
     <define name="BARO_ETS_TELEMETRY" description="flag to transmit the data as it is acquired"/>
   </doc>
 
diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
index 3f2e7fa1d6..3cc2b13526 100644
--- a/sw/airborne/modules/sensors/baro_ets.c
+++ b/sw/airborne/modules/sensors/baro_ets.c
@@ -43,6 +43,7 @@
 #include "mcu_periph/i2c.h"
 #include "state.h"
 #include <math.h>
+#include "mcu_periph/sys_time.h"
 
 #include "subsystems/nav.h"
 
@@ -91,13 +92,15 @@ struct i2c_transaction baro_ets_i2c_trans;
 bool_t baro_ets_offset_init;
 uint32_t baro_ets_offset_tmp;
 uint16_t baro_ets_cnt;
+uint32_t baro_ets_delay_time;
+bool_t   baro_ets_delay_done;
 
 void baro_ets_init( void ) {
   baro_ets_adc = 0;
   baro_ets_altitude = 0.0;
   baro_ets_offset = 0;
   baro_ets_offset_tmp = 0;
-  baro_ets_valid = TRUE;
+  baro_ets_valid = FALSE;
   baro_ets_offset_init = FALSE;
   baro_ets_enabled = TRUE;
   baro_ets_cnt = BARO_ETS_OFFSET_NBSAMPLES_INIT + BARO_ETS_OFFSET_NBSAMPLES_AVRG;
@@ -105,15 +108,29 @@ void baro_ets_init( void ) {
   baro_ets_sigma2 = BARO_ETS_SIGMA2;
 
   baro_ets_i2c_trans.status = I2CTransDone;
+
+#if defined BARO_ETS_START_DELAY && ! defined SITL
+  baro_ets_delay_done = FALSE;
+  SysTimeTimerStart(baro_ets_delay_time);
+#else
+  baro_ets_delay_done = TRUE;
+  baro_ets_delay_time = 0;
+#endif
 }
 
 void baro_ets_read_periodic( void ) {
   // Initiate next read
 #ifndef SITL
+#if defined BARO_ETS_START_DELAY
+  if (!baro_ets_delay_done) {
+    if (SysTimeTimer(baro_ets_delay_time) < USEC_OF_SEC(BARO_ETS_START_DELAY)) return;
+    else baro_ets_delay_done = TRUE;
+  }
+#endif
   if (baro_ets_i2c_trans.status == I2CTransDone)
     i2c_receive(&BARO_ETS_I2C_DEV, &baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
 #else // SITL
-  /* fake an offset so sim works for under hmsl as well */
+  /* fake an offset so sim works as well */
   if (!baro_ets_offset_init) {
     baro_ets_offset = 12400;
     baro_ets_offset_init = TRUE;