diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 1a4f10df16..66512c4045 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -8,6 +8,7 @@
       <!--configure name="USE_NEW_I2C_DRIVER" value="1"/ -->
       <configure name="AHRS_PROPAGATE_FREQUENCY" value="200" />
       <define name="AHRS_PROPAGATE_FREQUENCY" value="200" />
+      <define name="INS_PROPAGATE_FREQUENCY" value="200" />
       <define name="USE_BAROMETER" />
       <subsystem name="telemetry" type="udp" />
       <subsystem name="radio_control" type="datalink" />
@@ -25,7 +26,7 @@
     <subsystem name="gps" type="ublox" />
     <subsystem name="stabilization" type="int_quat" />
     <subsystem name="ahrs" type="int_cmpl_quat" />
-    <subsystem name="ins" />
+    <subsystem name="ins" type="extended" />
 
   </firmware>
 
diff --git a/sw/airborne/boards/ardrone/baro_board.c b/sw/airborne/boards/ardrone/baro_board.c
index 4ab4845087..ce0a1591a6 100644
--- a/sw/airborne/boards/ardrone/baro_board.c
+++ b/sw/airborne/boards/ardrone/baro_board.c
@@ -58,7 +58,7 @@ static inline int32_t baro_apply_calibration(int32_t raw)
   x2 = (-7357L * p) >> 16;
   int32_t press = p + ((x1 + x2 + 3791L) >> 4);
   // Zero at sealevel
-  return press - 101325;
+  return press;
 }
 
 static inline int32_t baro_apply_calibration_temp(int32_t tmp_raw)