diff --git a/sw/airborne/modules/sensors/baro_bmp.h b/sw/airborne/modules/sensors/baro_bmp.h
index 7db2fa66a2..860937bfe6 100644
--- a/sw/airborne/modules/sensors/baro_bmp.h
+++ b/sw/airborne/modules/sensors/baro_bmp.h
@@ -34,7 +34,13 @@
 #define BARO_BMP_START_PRESS  4
 #define BARO_BMP_READ_PRESS   5
 
-#define BARO_BMP_DT 0.05
+/// new measurement every 3rd baro_bmp_periodic
+#ifndef SITL
+#define BARO_BMP_DT (BARO_BMP_PERIODIC_PERIOID / 3)
+#else
+#define BARO_BMP_DT BARO_BMP_PERIODIC_PERIOID
+#endif
+
 extern bool_t baro_bmp_enabled;
 extern float baro_bmp_r;
 extern float baro_bmp_sigma2;
diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h
index 832280f60a..33f7bbd592 100644
--- a/sw/airborne/modules/sensors/baro_ets.h
+++ b/sw/airborne/modules/sensors/baro_ets.h
@@ -45,7 +45,8 @@
 #include "std.h"
 #include "mcu_periph/i2c.h"
 
-#define BARO_ETS_DT 0.05
+/// new measurement every baro_ets_read_periodic
+#define BARO_ETS_DT BARO_ETS_READ_PERIODIC_PERIOD
 
 extern uint16_t baro_ets_adc;
 extern uint16_t baro_ets_offset;
diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.h b/sw/airborne/modules/sensors/baro_ms5611_i2c.h
index 2f575e8a37..2f34e8fcff 100644
--- a/sw/airborne/modules/sensors/baro_ms5611_i2c.h
+++ b/sw/airborne/modules/sensors/baro_ms5611_i2c.h
@@ -12,7 +12,9 @@
 
 #define PROM_NB                 8
 
-#define BARO_MS5611_DT 0.05
+/// new measurement every baro_ms5611_periodic
+#define BARO_MS5611_DT BARO_MS5611_PERIODIC_PERIOID
+
 #define BARO_MS5611_R 20
 #define BARO_MS5611_SIGMA2 1
 extern float baro_ms5611_alt;