diff --git a/sw/airborne/boards/baro_board_ms5611_i2c.c b/sw/airborne/boards/baro_board_ms5611_i2c.c
index fb5b10eaec..8e55b850a2 100644
--- a/sw/airborne/boards/baro_board_ms5611_i2c.c
+++ b/sw/airborne/boards/baro_board_ms5611_i2c.c
@@ -46,7 +46,7 @@
 #endif
 
 
-/* default i2c address
+/** default i2c address
  * when CSB is set to GND addr is 0xEE
  * when CSB is set to VCC addr is 0xEC
  *
@@ -56,13 +56,18 @@
 #define BB_MS5611_SLAVE_ADDR 0xEE
 #endif
 
+/// set to TRUE if baro is actually a MS5607
+#ifndef BB_MS5611_TYPE_MS5607
+#define BB_MS5611_TYPE_MS5607 FALSE
+#endif
+PRINT_CONFIG_VAR(BB_MS5611_TYPE_MS5607)
 
 struct Ms5611_I2c bb_ms5611;
 
 
 void baro_init(void)
 {
-  ms5611_i2c_init(&bb_ms5611, &BB_MS5611_I2C_DEV, BB_MS5611_SLAVE_ADDR);
+  ms5611_i2c_init(&bb_ms5611, &BB_MS5611_I2C_DEV, BB_MS5611_SLAVE_ADDR, BB_MS5611_TYPE_MS5607);
 
 #ifdef BARO_LED
   LED_OFF(BARO_LED);
diff --git a/sw/airborne/boards/baro_board_ms5611_spi.c b/sw/airborne/boards/baro_board_ms5611_spi.c
index 5b5d78880b..0185d0d600 100644
--- a/sw/airborne/boards/baro_board_ms5611_spi.c
+++ b/sw/airborne/boards/baro_board_ms5611_spi.c
@@ -45,13 +45,17 @@
 #endif
 #endif
 
+/// set to TRUE if baro is actually a MS5607
+#ifndef BB_MS5611_TYPE_MS5607
+#define BB_MS5611_TYPE_MS5607 FALSE
+#endif
 
 struct Ms5611_Spi bb_ms5611;
 
 
 void baro_init(void)
 {
-  ms5611_spi_init(&bb_ms5611, &BB_MS5611_SPI_DEV, BB_MS5611_SLAVE_IDX);
+  ms5611_spi_init(&bb_ms5611, &BB_MS5611_SPI_DEV, BB_MS5611_SLAVE_IDX, BB_MS5611_TYPE_MS5607);
 
 #ifdef BARO_LED
   LED_OFF(BARO_LED);
diff --git a/sw/airborne/boards/bebop/baro_board.h b/sw/airborne/boards/bebop/baro_board.h
index 2a91d3ebe9..c0b4b019c9 100644
--- a/sw/airborne/boards/bebop/baro_board.h
+++ b/sw/airborne/boards/bebop/baro_board.h
@@ -21,12 +21,15 @@
 
 /**
  * @file boards/bebop/baro_board.h
- * Paparazzi Bebop Baro Sensor implementation using the ms5611.
+ * Paparazzi Bebop Baro Sensor implementation for the MS5607.
+ * Actually uses the MS5611 driver, but sets BB_MS5611_TYPE_MS5607 to TRUE.
  */
 
 #ifndef BOARDS_BEBOP_BARO_H
 #define BOARDS_BEBOP_BARO_H
 
+#define BB_MS5611_TYPE_MS5607 TRUE
+
 // only for printing the baro type during compilation
 #ifndef BARO_BOARD
 #define BARO_BOARD BARO_MS5611_I2C
diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c
index 8e4e9689ac..bc830a9000 100644
--- a/sw/airborne/modules/sensors/baro_ms5611_i2c.c
+++ b/sw/airborne/modules/sensors/baro_ms5611_i2c.c
@@ -59,7 +59,7 @@ float baro_ms5611_sigma2;
 
 void baro_ms5611_init(void)
 {
-  ms5611_i2c_init(&baro_ms5611, &MS5611_I2C_DEV, MS5611_SLAVE_ADDR);
+  ms5611_i2c_init(&baro_ms5611, &MS5611_I2C_DEV, MS5611_SLAVE_ADDR, FALSE);
 
   baro_ms5611_enabled = TRUE;
   baro_ms5611_alt_valid = FALSE;
diff --git a/sw/airborne/modules/sensors/baro_ms5611_spi.c b/sw/airborne/modules/sensors/baro_ms5611_spi.c
index 619a527bf0..b043f4d8fb 100644
--- a/sw/airborne/modules/sensors/baro_ms5611_spi.c
+++ b/sw/airborne/modules/sensors/baro_ms5611_spi.c
@@ -58,7 +58,7 @@ float baro_ms5611_sigma2;
 
 void baro_ms5611_init(void)
 {
-  ms5611_spi_init(&baro_ms5611, &MS5611_SPI_DEV, MS5611_SLAVE_IDX);
+  ms5611_spi_init(&baro_ms5611, &MS5611_SPI_DEV, MS5611_SLAVE_IDX, FALSE);
 
   baro_ms5611_enabled = TRUE;
   baro_ms5611_alt_valid = FALSE;
diff --git a/sw/airborne/peripherals/ms5611.c b/sw/airborne/peripherals/ms5611.c
index bfc8e68b99..99ed156f10 100644
--- a/sw/airborne/peripherals/ms5611.c
+++ b/sw/airborne/peripherals/ms5611.c
@@ -23,7 +23,7 @@
 /**
  * @file peripherals/ms5611.c
  *
- * MS5611 barometer driver common functions (I2C and SPI).
+ * MS5611 and MS5607 barometer driver common functions (I2C and SPI).
  */
 
 #include "peripherals/ms5611.h"
@@ -61,7 +61,7 @@ bool_t ms5611_prom_crc_ok(uint16_t *prom)
 }
 
 /**
- * Calculate temperature and compensated pressure.
+ * Calculate temperature and compensated pressure for MS5611.
  * @return TRUE if measurement was valid, FALSE otherwise
  */
 bool_t ms5611_calc(struct Ms5611Data *ms)
@@ -101,3 +101,46 @@ bool_t ms5611_calc(struct Ms5611Data *ms)
   }
   return FALSE;
 }
+
+/**
+ * Calculate temperature and compensated pressure for MS5607.
+ * MS5607 basically has half the resolution of the MS5611.
+ * @return TRUE if measurement was valid, FALSE otherwise
+ */
+bool_t ms5607_calc(struct Ms5611Data *ms)
+{
+  int64_t dt, tempms, off, sens, t2, off2, sens2;
+
+  /* difference between actual and ref temperature */
+  dt = ms->d2 - (int64_t)ms->c[5] * (1 << 8);
+  /* actual temperature */
+  tempms = 2000 + ((int64_t)dt * ms->c[6]) / (1 << 23);
+  /* offset at actual temperature */
+  off = ((int64_t)ms->c[2] * (1 << 17)) + ((int64_t)ms->c[4] * dt) / (1 << 6);
+  /* sensitivity at actual temperature */
+  sens = ((int64_t)ms->c[1] * (1 << 16)) + ((int64_t)ms->c[3] * dt) / (1 << 7);
+  /* second order temperature compensation */
+  if (tempms < 2000) {
+    t2 = (dt * dt) / (1 << 31);
+    off2 = 61 * ((int64_t)(tempms - 2000) * (tempms - 2000)) / (1 << 4);
+    sens2 = 2 * ((int64_t)(tempms - 2000) * (tempms - 2000));
+    if (tempms < -1500) {
+      off2 = off2 + 15 * (int64_t)(tempms + 1500) * (tempms + 1500);
+      sens2 = sens2 + 8 * ((int64_t)(tempms + 1500) * (tempms + 1500));
+    }
+    tempms = tempms - t2;
+    off = off - off2;
+    sens = sens - sens2;
+  }
+
+  /* temperature compensated pressure in Pascal (0.01mbar) */
+  uint32_t p = (((int64_t)ms->d1 * sens) / (1 << 21) - off) / (1 << 15);
+  /* if temp and pressare are in valid bounds, copy and return TRUE (valid) */
+  if ((tempms > -4000) && (tempms < 8500) && (p > 1000) && (p < 120000)) {
+    /* temperature in deg Celsius with 0.01 degC resolultion */
+    ms->temperature = (int32_t)tempms;
+    ms->pressure = p;
+    return TRUE;
+  }
+  return FALSE;
+}
diff --git a/sw/airborne/peripherals/ms5611.h b/sw/airborne/peripherals/ms5611.h
index 7ab7c65eb0..dd51cff1e8 100644
--- a/sw/airborne/peripherals/ms5611.h
+++ b/sw/airborne/peripherals/ms5611.h
@@ -58,5 +58,6 @@ struct Ms5611Data {
 
 extern bool_t ms5611_prom_crc_ok(uint16_t *prom);
 extern bool_t ms5611_calc(struct Ms5611Data *ms);
+extern bool_t ms5607_calc(struct Ms5611Data *ms);
 
 #endif /* MS5611_H */
diff --git a/sw/airborne/peripherals/ms5611_i2c.c b/sw/airborne/peripherals/ms5611_i2c.c
index dbd1b2cce9..ccc2c9017e 100644
--- a/sw/airborne/peripherals/ms5611_i2c.c
+++ b/sw/airborne/peripherals/ms5611_i2c.c
@@ -22,7 +22,7 @@
 
 /**
  * @file peripherals/ms5611_i2c.c
- * Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C.
+ * Measurement Specialties (Intersema) MS5611-01BA and MS5607-02BA03 pressure/temperature sensor interface for I2C.
  *
  */
 
@@ -30,7 +30,8 @@
 #include "peripherals/ms5611_i2c.h"
 
 
-void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr)
+void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr,
+                     bool_t is_ms5607)
 {
   /* set i2c_peripheral */
   ms->i2c_p = i2c_p;
@@ -44,6 +45,7 @@ void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t ad
   ms->initialized = FALSE;
   ms->status = MS5611_STATUS_UNINIT;
   ms->prom_cnt = 0;
+  ms->is_ms5607 = is_ms5607;
 }
 
 void ms5611_i2c_start_configure(struct Ms5611_I2c *ms)
@@ -152,8 +154,11 @@ void ms5611_i2c_event(struct Ms5611_I2c *ms)
             ms->status = MS5611_STATUS_IDLE;
           } else {
             /* calculate temp and pressure from measurements and set available if valid */
-            if (ms5611_calc(&(ms->data))) {
-              ms->data_available = TRUE;
+            if (ms->is_ms5607) {
+              ms->data_available = ms5607_calc(&(ms->data));
+            }
+            else {
+              ms->data_available = ms5611_calc(&(ms->data));
             }
             ms->status = MS5611_STATUS_IDLE;
           }
diff --git a/sw/airborne/peripherals/ms5611_i2c.h b/sw/airborne/peripherals/ms5611_i2c.h
index 3cb5b5d562..8954e66a8c 100644
--- a/sw/airborne/peripherals/ms5611_i2c.h
+++ b/sw/airborne/peripherals/ms5611_i2c.h
@@ -22,7 +22,7 @@
 /**
  * @file peripherals/ms5611_i2c.h
  *
- * Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C.
+ * Measurement Specialties (Intersema) MS5611-01BA and MS5607-02BA03 pressure/temperature sensor interface for I2C.
  */
 
 #ifndef MS5611_I2C_H
@@ -37,6 +37,7 @@ struct Ms5611_I2c {
   struct i2c_periph *i2c_p;
   struct i2c_transaction i2c_trans;
   enum Ms5611Status status;
+  bool_t is_ms5607;                   ///< TRUE if MS5607, FALSE if MS5611
   bool_t initialized;                 ///< config done flag
   volatile bool_t data_available;     ///< data ready flag
   struct Ms5611Data data;
@@ -44,7 +45,8 @@ struct Ms5611_I2c {
 };
 
 // Functions
-extern void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr);
+extern void ms5611_i2c_init(struct Ms5611_I2c *ms, struct i2c_periph *i2c_p, uint8_t addr,
+                            bool_t is_ms5607);
 extern void ms5611_i2c_start_configure(struct Ms5611_I2c *ms);
 extern void ms5611_i2c_start_conversion(struct Ms5611_I2c *ms);
 extern void ms5611_i2c_periodic_check(struct Ms5611_I2c *ms);
diff --git a/sw/airborne/peripherals/ms5611_spi.c b/sw/airborne/peripherals/ms5611_spi.c
index 7640cbb068..a3b8d0e988 100644
--- a/sw/airborne/peripherals/ms5611_spi.c
+++ b/sw/airborne/peripherals/ms5611_spi.c
@@ -22,7 +22,7 @@
 
 /**
  * @file peripherals/ms5611_spi.c
- * Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for SPI.
+ * Measurement Specialties (Intersema) MS5611-01BA and MS5607-02BA03 pressure/temperature sensor interface for SPI.
  *
  */
 
@@ -30,7 +30,8 @@
 #include "peripherals/ms5611_spi.h"
 
 
-void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t slave_idx)
+void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t slave_idx,
+                     bool_t is_ms5607)
 {
   /* set spi_peripheral */
   ms->spi_p = spi_p;
@@ -58,6 +59,7 @@ void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t sl
   ms->initialized = FALSE;
   ms->status = MS5611_STATUS_UNINIT;
   ms->prom_cnt = 0;
+  ms->is_ms5607 = is_ms5607;
 }
 
 void ms5611_spi_start_configure(struct Ms5611_Spi *ms)
@@ -164,8 +166,11 @@ void ms5611_spi_event(struct Ms5611_Spi *ms)
             ms->status = MS5611_STATUS_IDLE;
           } else {
             /* calculate temp and pressure from measurements and set available if valid */
-            if (ms5611_calc(&(ms->data))) {
-              ms->data_available = TRUE;
+            if (ms->is_ms5607) {
+              ms->data_available = ms5607_calc(&(ms->data));
+            }
+            else {
+              ms->data_available = ms5611_calc(&(ms->data));
             }
             ms->status = MS5611_STATUS_IDLE;
           }
diff --git a/sw/airborne/peripherals/ms5611_spi.h b/sw/airborne/peripherals/ms5611_spi.h
index b885faa79f..5e8b809d29 100644
--- a/sw/airborne/peripherals/ms5611_spi.h
+++ b/sw/airborne/peripherals/ms5611_spi.h
@@ -22,7 +22,7 @@
 /**
  * @file peripherals/ms5611_spi.h
  *
- * Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for SPI.
+ * Measurement Specialties (Intersema) MS5611-01BA and MS5607-02BA03 pressure/temperature sensor interface for SPI.
  */
 
 #ifndef MS5611_SPI_H
@@ -39,6 +39,7 @@ struct Ms5611_Spi {
   volatile uint8_t tx_buf[1];
   volatile uint8_t rx_buf[4];
   enum Ms5611Status status;
+  bool_t is_ms5607;                   ///< TRUE if MS5607, FALSE if MS5611
   bool_t initialized;                 ///< config done flag
   volatile bool_t data_available;     ///< data ready flag
   struct Ms5611Data data;
@@ -46,7 +47,8 @@ struct Ms5611_Spi {
 };
 
 // Functions
-extern void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t addr);
+extern void ms5611_spi_init(struct Ms5611_Spi *ms, struct spi_periph *spi_p, uint8_t addr,
+                            bool_t is_ms5607);
 extern void ms5611_spi_start_configure(struct Ms5611_Spi *ms);
 extern void ms5611_spi_start_conversion(struct Ms5611_Spi *ms);
 extern void ms5611_spi_periodic_check(struct Ms5611_Spi *ms);