diff --git a/conf/modules/pbn.xml b/conf/modules/pbn.xml
index 5459ff9063..fe3d070fb9 100644
--- a/conf/modules/pbn.xml
+++ b/conf/modules/pbn.xml
@@ -19,7 +19,7 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="pbn">
-        <dl_setting MAX="30" MIN="0" STEP="1" module="sensors/pressure_board_navarro" VAR="airspeed_filter"/>
+        <dl_setting MAX="30" MIN="0" STEP="1" module="sensors/pressure_board_navarro" VAR="pbn.airspeed_filter"/>
       </dl_settings>
     </dl_settings>
   </settings>
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.c b/sw/airborne/modules/sensors/pressure_board_navarro.c
index 6a1396d6eb..7a98370cf3 100644
--- a/sw/airborne/modules/sensors/pressure_board_navarro.c
+++ b/sw/airborne/modules/sensors/pressure_board_navarro.c
@@ -73,39 +73,31 @@ PRINT_CONFIG_MSG("USE_AIRSPEED_PBN automatically set to TRUE")
 
 
 // Global variables
-uint16_t altitude_adc;
-uint16_t airspeed_adc;
-bool_t data_valid;
+struct PBNState pbn;
 struct i2c_transaction pbn_trans;
 
+static uint16_t offset_cnt;
+static uint16_t startup_delay;
 
-uint32_t airspeed_offset_tmp;
-uint32_t altitude_offset_tmp;
-uint16_t offset_cnt;
-uint16_t altitude_offset;
-uint16_t airspeed_offset;
-float pbn_altitude;
-float pbn_airspeed;
-float airspeed_filter;
-uint16_t startup_delay;
-
-void pbn_init( void ) {
+void pbn_init(void)
+{
   startup_delay = PBN_START_DELAY;
-  altitude_offset = 0;
-  airspeed_offset = 0;
-  airspeed_adc = 0;
-  altitude_adc = 0;
-  data_valid = TRUE;
+  pbn.altitude_offset = 0;
+  pbn.airspeed_offset = 0;
+  pbn.airspeed_adc = 0;
+  pbn.altitude_adc = 0;
+  pbn.data_valid = TRUE;
   offset_cnt = OFFSET_NBSAMPLES_AVRG;
-  pbn_airspeed = 0.;
-  pbn_altitude = 0.;
-  airspeed_filter = PBN_OFFSET_FILTER;
+  pbn.airspeed = 0.;
+  pbn.altitude = 0.;
+  pbn.airspeed_filter = PBN_OFFSET_FILTER;
 }
 
 
-void pbn_periodic( void ) {
+void pbn_periodic(void)
+{
 
-  if ( startup_delay > 0 ) {
+  if (startup_delay > 0) {
     --startup_delay;
     return;
   }
@@ -116,51 +108,53 @@ void pbn_periodic( void ) {
 
 }
 
-void pbn_read_event( void ) {
+void pbn_read_event(void)
+{
 
   pbn_trans.status = I2CTransDone;
 
   // Get raw values from buffer
-  airspeed_adc = ((uint16_t)(pbn_trans.buf[0]) << 8) | (uint16_t)(pbn_trans.buf[1]);
-  altitude_adc = ((uint16_t)(pbn_trans.buf[2]) << 8) | (uint16_t)(pbn_trans.buf[3]);
+  pbn.airspeed_adc = ((uint16_t)(pbn_trans.buf[0]) << 8) | (uint16_t)(pbn_trans.buf[1]);
+  pbn.altitude_adc = ((uint16_t)(pbn_trans.buf[2]) << 8) | (uint16_t)(pbn_trans.buf[3]);
 
   // Consider 0 as a wrong value
-  if (airspeed_adc == 0 || altitude_adc == 0) {
-    data_valid = FALSE;
-  }
-  else {
-    data_valid = TRUE;
+  if (pbn.airspeed_adc == 0 || pbn.altitude_adc == 0) {
+    pbn.data_valid = FALSE;
+  } else {
+    pbn.data_valid = TRUE;
 
     if (offset_cnt > 0) {
       // IIR filter to compute an initial offset
 #ifndef PBN_AIRSPEED_OFFSET
-      airspeed_offset = (PBN_OFFSET_FILTER * airspeed_offset + airspeed_adc) / (PBN_OFFSET_FILTER + 1);
+      pbn.airspeed_offset = (PBN_OFFSET_FILTER * pbn.airspeed_offset + pbn.airspeed_adc) /
+        (PBN_OFFSET_FILTER + 1);
 #else
-      airspeed_offset = PBN_AIRSPEED_OFFSET;
+      pbn.airspeed_offset = PBN_AIRSPEED_OFFSET;
 #endif
 #ifndef PBN_ALTITUDE_OFFSET
-      altitude_offset = (PBN_OFFSET_FILTER * altitude_offset + altitude_adc) / (PBN_OFFSET_FILTER + 1);
+      pbn.altitude_offset = (PBN_OFFSET_FILTER * pbn.altitude_offset + pbn.altitude_adc) /
+        (PBN_OFFSET_FILTER + 1);
 #else
-      altitude_offset = PBN_ALTITUDE_OFFSET;
+      pbn.altitude_offset = PBN_ALTITUDE_OFFSET;
 #endif
 
       // decrease init counter
       --offset_cnt;
-    }
-    else {
+    } else {
       // Compute pressure
-      float pressure = PBN_ALTITUDE_SCALE * (float) altitude_adc + PBN_PRESSURE_OFFSET;
+      float pressure = PBN_ALTITUDE_SCALE * (float) pbn.altitude_adc + PBN_PRESSURE_OFFSET;
       AbiSendMsgBARO_ABS(BARO_PBN_SENDER_ID, &pressure);
       // Compute airspeed and altitude
       //pbn_airspeed = (-4.45 + sqrtf(19.84-0.57*(float)(airspeed_offset-airspeed_adc)))/0.28;
-      uint16_t diff = Max(airspeed_adc-airspeed_offset, 0);
+      uint16_t diff = Max(pbn.airspeed_adc - pbn.airspeed_offset, 0);
       float tmp_airspeed = sqrtf((float)diff * PBN_AIRSPEED_SCALE);
-      pbn_altitude = PBN_ALTITUDE_SCALE*(float)(altitude_adc-altitude_offset);
-
-      pbn_airspeed = (airspeed_filter*pbn_airspeed + tmp_airspeed) / (airspeed_filter + 1.);
+      pbn.airspeed = (pbn.airspeed_filter * pbn.airspeed + tmp_airspeed) /
+        (pbn.airspeed_filter + 1.);
 #if USE_AIRSPEED_PBN
-      stateSetAirspeed_f(&pbn_airspeed);
+      stateSetAirspeed_f(&pbn.airspeed);
 #endif
+
+      pbn.altitude = PBN_ALTITUDE_SCALE * (float)(pbn.altitude_adc - pbn.altitude_offset);
     }
 
   }
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.h b/sw/airborne/modules/sensors/pressure_board_navarro.h
index ff16f5da43..f8f1eb6593 100644
--- a/sw/airborne/modules/sensors/pressure_board_navarro.h
+++ b/sw/airborne/modules/sensors/pressure_board_navarro.h
@@ -32,29 +32,31 @@
  *
  */
 
-
 #ifndef PRESSURE_BOARD_NAVARRO_H
 #define PRESSURE_BOARD_NAVARRO_H
 
 #include "std.h"
 #include "mcu_periph/i2c.h"
 
-extern uint16_t altitude_adc;
-extern uint16_t airspeed_adc;
-extern uint16_t altitude_offset;
-extern uint16_t airspeed_offset;
-extern float pbn_altitude, pbn_airspeed;
-extern float airspeed_filter;
+struct PBNState {
+  uint16_t altitude_adc;
+  uint16_t airspeed_adc;
+  uint16_t altitude_offset;
+  uint16_t airspeed_offset;
+  float altitude;
+  float airspeed;
+  float airspeed_filter;
+  bool_t data_valid;
+};
+
+extern struct PBNState pbn;
 
-extern bool_t data_valid;
 extern struct i2c_transaction pbn_trans;
 
-extern void pbn_init( void );
-extern void pbn_periodic( void );
-extern void pbn_read_event( void );
+extern void pbn_init(void);
+extern void pbn_periodic(void);
+extern void pbn_read_event(void);
 
 #define PbnEvent() { if (pbn_trans.status == I2CTransSuccess) pbn_read_event(); }
 
-#define PERIODIC_SEND_PBN(_chan) DOWNLINK_SEND_PBN(DefaultChannel, DefaultDevice,&airspeed_adc,&altitude_adc,&pbn_airspeed,&pbn_altitude,&airspeed_offset,&altitude_offset);
-
 #endif // PRESSURE_BOARD_NAVARRO_H