diff --git a/sw/airborne/modules/sensors/baro_amsys.h b/sw/airborne/modules/sensors/baro_amsys.h
index 287f0c3e5f..1a22747b4d 100644
--- a/sw/airborne/modules/sensors/baro_amsys.h
+++ b/sw/airborne/modules/sensors/baro_amsys.h
@@ -28,7 +28,7 @@
 #include "std.h"
 #include "mcu_periph/i2c.h"
 
-#define BARO_AMSYS_DT 0.05
+#define BARO_AMSYS_DT BARO_AMSYS_READ_PERIODIC_PERIOD
 
 extern uint16_t baro_amsys_adc;
 // extern float baro_amsys_offset;
diff --git a/sw/airborne/subsystems/ins/ins_alt_float.h b/sw/airborne/subsystems/ins/ins_alt_float.h
index 2797e679c7..613ebc5281 100644
--- a/sw/airborne/subsystems/ins/ins_alt_float.h
+++ b/sw/airborne/subsystems/ins/ins_alt_float.h
@@ -33,7 +33,7 @@
 #include <inttypes.h>
 #include "std.h"
 #include "state.h"
-
+#include "generated/modules.h"
 
 #if USE_BAROMETER
 #ifdef BARO_MS5534A