diff --git a/sw/airborne/modules/sensors/baro_MS5534A.h b/sw/airborne/modules/sensors/baro_MS5534A.h
index 94568c892d..7e98fa1c34 100644
--- a/sw/airborne/modules/sensors/baro_MS5534A.h
+++ b/sw/airborne/modules/sensors/baro_MS5534A.h
@@ -54,7 +54,7 @@ void baro_MS5534A_event_task( void );
 
 void baro_MS5534A_event( void );
 
-#define BaroMS5534AUpdate(_b) { if (baro_MS5534A_available) { _b = baro_MS5534A_pressure; baro_MS5534A_available = FALSE; } }
+#define BaroMS5534AUpdate(_b, _h) { if (baro_MS5534A_available) { _b = baro_MS5534A_pressure; _h(); baro_MS5534A_available = FALSE; } }
 
 #endif // USE_BARO_MS5534A
 
diff --git a/sw/airborne/modules/sensors/baro_amsys.h b/sw/airborne/modules/sensors/baro_amsys.h
index 94429a402e..287f0c3e5f 100644
--- a/sw/airborne/modules/sensors/baro_amsys.h
+++ b/sw/airborne/modules/sensors/baro_amsys.h
@@ -47,6 +47,6 @@ extern void baro_amsys_read_event( void );
 
 #define BaroAmsysEvent() { if (baro_amsys_i2c_trans.status == I2CTransSuccess) baro_amsys_read_event(); }
 
-#define BaroAmsysUpdate(_b) { if (baro_amsys_valid) { _b = baro_amsys_adc; baro_amsys_valid = FALSE; } }
+#define BaroAmsysUpdate(_b, _h) { if (baro_amsys_valid) { _b = baro_amsys_adc; _h(); baro_amsys_valid = FALSE; } }
 
 #endif // BARO_AMSYS_H
diff --git a/sw/airborne/modules/sensors/baro_bmp.h b/sw/airborne/modules/sensors/baro_bmp.h
index 53adeb184d..7db2fa66a2 100644
--- a/sw/airborne/modules/sensors/baro_bmp.h
+++ b/sw/airborne/modules/sensors/baro_bmp.h
@@ -51,6 +51,6 @@ void baro_bmp_init(void);
 void baro_bmp_periodic(void);
 void baro_bmp_event(void);
 
-#define BaroBmpUpdate(_b) { if (baro_bmp_valid) { _b = baro_bmp_pressure; baro_bmp_valid = FALSE; } }
+#define BaroBmpUpdate(_b, _h) { if (baro_bmp_valid) { _b = baro_bmp_pressure; _h(); baro_bmp_valid = FALSE; } }
 
 #endif
diff --git a/sw/airborne/modules/sensors/baro_board_module.h b/sw/airborne/modules/sensors/baro_board_module.h
index 3ea1e5682a..149e923f10 100644
--- a/sw/airborne/modules/sensors/baro_board_module.h
+++ b/sw/airborne/modules/sensors/baro_board_module.h
@@ -56,10 +56,8 @@
  *  Need to be maped to one the external baro running has a module
  */
 #define BaroEvent(_b_abs_handler, _b_diff_handler) {  \
-  BARO_ABS_EVENT(baro.absolute);                      \
-  BARO_DIFF_EVENT(baro.differential);                 \
-  _b_abs_handler();                                   \
-  _b_diff_handler();                                  \
+    BARO_ABS_EVENT(baro.absolute, _b_abs_handler);       \
+    BARO_DIFF_EVENT(baro.differential, _b_diff_handler); \
 }
 
 
diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h
index c492ef8fc4..832280f60a 100644
--- a/sw/airborne/modules/sensors/baro_ets.h
+++ b/sw/airborne/modules/sensors/baro_ets.h
@@ -63,6 +63,6 @@ extern void baro_ets_read_event( void );
 
 #define BaroEtsEvent() { if (baro_ets_i2c_trans.status == I2CTransSuccess) baro_ets_read_event(); }
 
-#define BaroEtsUpdate(_b) { if (baro_ets_valid) { _b = baro_ets_adc; baro_ets_valid = FALSE; } }
+#define BaroEtsUpdate(_b, _h) { if (baro_ets_valid) { _b = baro_ets_adc; _h(); baro_ets_valid = FALSE; } }
 
 #endif // BARO_ETS_H
diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.h b/sw/airborne/modules/sensors/baro_ms5611_i2c.h
index cad37d60db..2f575e8a37 100644
--- a/sw/airborne/modules/sensors/baro_ms5611_i2c.h
+++ b/sw/airborne/modules/sensors/baro_ms5611_i2c.h
@@ -42,6 +42,6 @@ extern void baro_ms5611_d1(void);
 extern void baro_ms5611_d2(void);
 extern void baro_ms5611_event(void);
 
-#define BaroMs5611Update(_b) { if (baro_ms5611_valid) { _b = baro_ms5611_alt; baro_ms5611_valid = FALSE; } }
+#define BaroMs5611Update(_b, _h) { if (baro_ms5611_valid) { _b = baro_ms5611_alt; _h(); baro_ms5611_valid = FALSE; } }
 
 #endif
diff --git a/sw/airborne/modules/sensors/baro_scp.h b/sw/airborne/modules/sensors/baro_scp.h
index 2619adb96d..77aeb504d1 100644
--- a/sw/airborne/modules/sensors/baro_scp.h
+++ b/sw/airborne/modules/sensors/baro_scp.h
@@ -20,6 +20,6 @@ void baro_scp_init(void);
 void baro_scp_periodic(void);
 void baro_scp_event(void);
 
-#define BaroScpUpdate(_b) { if (baro_scp_available) { _b = baro_scp_pressure; baro_scp_available = FALSE; } }
+#define BaroScpUpdate(_b, _h) { if (baro_scp_available) { _b = baro_scp_pressure; _h(); baro_scp_available = FALSE; } }
 
 #endif