diff --git a/conf/airframes/CDW/asctec_cdw.xml b/conf/airframes/CDW/asctec_cdw.xml
index 830c176d2f..b366bcb90a 100644
--- a/conf/airframes/CDW/asctec_cdw.xml
+++ b/conf/airframes/CDW/asctec_cdw.xml
@@ -124,7 +124,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
   <!-- ************************* GAINS ************************* -->
diff --git a/conf/airframes/CDW/tricopter_cdw.xml b/conf/airframes/CDW/tricopter_cdw.xml
index 86946f11f3..ca48ac1ec1 100644
--- a/conf/airframes/CDW/tricopter_cdw.xml
+++ b/conf/airframes/CDW/tricopter_cdw.xml
@@ -121,7 +121,6 @@ LiPo/LiIo-Zellen: 2-3
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
   <!-- ************************* GAINS ************************* -->
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 222712c259..4f9abc4b4c 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -124,7 +124,6 @@
   <section name="INS" prefix="INS_">
     <define name="ROLL_NEUTRAL_DEFAULT" value="-0.0640000030398" unit="rad"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="0.0670000016689" unit="rad"/>
-    <define name="BARO_SENS" value="1.0"/> <!-- TODO calibration -->
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index f15a4b5c41..91d220785e 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -120,7 +120,6 @@
   <section name="INS" prefix="INS_">
     <define name="ROLL_NEUTRAL_DEFAULT" value="3." unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
-    <define name="BARO_SENS" value="1.0"/> <!-- TODO calibration -->
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 2dce3cc671..7136bc411d 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -142,7 +142,6 @@
   <section name="INS" prefix="INS_">
     <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
     <!-- calibration SENS = 1.156 :( -->
-    <define name="BARO_SENS" value="1.156" integer="16"/>
     <define name="SONAR_SENS" value="0.0128633" integer="16"/>
     <define name="SONAR_OFFSET" value="7"/>
     <define name="SONAR_MAX_RANGE" value="4.0"/>
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 834132e720..ee1b52add3 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -177,7 +177,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
     <!--define name="SONAR_SENS" value="0.00650498" integer="16"/--> <!-- XL-MaxSonar-EZ4 5V supply -->
     <define name="SONAR_SENS" value="0.016775" integer="16"/> <!-- XL-MaxSonar-EZ4 5V supply scaled to 3.3V -->
     <define name="SONAR_MAX_RANGE" value="5.0"/>
diff --git a/conf/airframes/ENAC/quadrotor/hen1.xml b/conf/airframes/ENAC/quadrotor/hen1.xml
index 2c0bdb49ae..16a2e39f82 100644
--- a/conf/airframes/ENAC/quadrotor/hen1.xml
+++ b/conf/airframes/ENAC/quadrotor/hen1.xml
@@ -127,7 +127,6 @@
   <section name="INS" prefix="INS_">
     <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
     <!-- calibration SENS = 1.156 :( -->
-    <define name="BARO_SENS" value="1.156" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index aaf45e3e27..bc7e33c41c 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -189,7 +189,6 @@
 
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
index ace2179575..b9bb7d2ab2 100644
--- a/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
+++ b/conf/airframes/TUDelft/IMAV2013/chouchou_lisa_s.xml
@@ -145,7 +145,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml b/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
index 064c01ae5a..989341a4ad 100644
--- a/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
+++ b/conf/airframes/TUDelft/IMAV2013/quadrotor_lisa_s.xml
@@ -147,7 +147,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml b/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
index a11d9f889b..4817a01d36 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
+++ b/conf/airframes/TUDelft/IMAV2013/walkera_V120D02S.xml
@@ -131,7 +131,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml b/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
index 4e7dda0a2e..c843d8dd41 100644
--- a/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
+++ b/conf/airframes/TUDelft/IMAV2013/walkera_genius_v1.xml
@@ -134,7 +134,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
index ee9e0848ac..1766366e50 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_rc.xml
@@ -221,7 +221,6 @@
     </section>
 
     <section name="INS" prefix="INS_">
-        <define name="BARO_SENS" value="10." integer="16"/>
     </section>
 
     <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
index 06f2f97307..17a36534f7 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -221,7 +221,6 @@
     </section>
 
     <section name="INS" prefix="INS_">
-        <define name="BARO_SENS" value="10." integer="16"/>
     </section>
 
     <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/ardrone2_raw.xml b/conf/airframes/ardrone2_raw.xml
index 99265a1638..7b66b4e517 100644
--- a/conf/airframes/ardrone2_raw.xml
+++ b/conf/airframes/ardrone2_raw.xml
@@ -104,7 +104,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index a62ace8aee..379e112587 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -190,7 +190,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
   </section>
 
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index af532c20f2..a34b282fd0 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -188,7 +188,6 @@
  </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
  <section name="MISC">
diff --git a/conf/airframes/esden/cocto_lm2a2.xml b/conf/airframes/esden/cocto_lm2a2.xml
index 609e7295bd..3745d83a5b 100644
--- a/conf/airframes/esden/cocto_lm2a2.xml
+++ b/conf/airframes/esden/cocto_lm2a2.xml
@@ -170,7 +170,6 @@ B2L -> CW
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/gain_scheduling_example.xml b/conf/airframes/esden/gain_scheduling_example.xml
index 02f574bd9f..b731662fba 100644
--- a/conf/airframes/esden/gain_scheduling_example.xml
+++ b/conf/airframes/esden/gain_scheduling_example.xml
@@ -153,7 +153,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index f796f42c68..f011c0e02f 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -167,7 +167,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/esden/hexy_lm2a2pwm.xml
index 73554f3209..6078dbf311 100644
--- a/conf/airframes/esden/hexy_lm2a2pwm.xml
+++ b/conf/airframes/esden/hexy_lm2a2pwm.xml
@@ -128,7 +128,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/lisa2_hex.xml b/conf/airframes/esden/lisa2_hex.xml
index b21dddffcb..36bed33636 100644
--- a/conf/airframes/esden/lisa2_hex.xml
+++ b/conf/airframes/esden/lisa2_hex.xml
@@ -135,7 +135,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/qs_asp22.xml b/conf/airframes/esden/qs_asp22.xml
index c4ef62b938..b6d90d7b42 100644
--- a/conf/airframes/esden/qs_asp22.xml
+++ b/conf/airframes/esden/qs_asp22.xml
@@ -161,7 +161,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index ca80e5a5d2..b33c992432 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -163,7 +163,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
index 406734e757..82e8505f01 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -124,7 +124,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
index e87c817b3e..9d6fd8ff2e 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -127,7 +127,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/quady_lm2a2pwmppm.xml b/conf/airframes/esden/quady_lm2a2pwmppm.xml
index 31fd65c39d..ed6df64b95 100644
--- a/conf/airframes/esden/quady_lm2a2pwmppm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwmppm.xml
@@ -124,7 +124,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/esden/quady_ls01pwm.xml b/conf/airframes/esden/quady_ls01pwm.xml
index 4a3a194c39..ef54cfdd47 100644
--- a/conf/airframes/esden/quady_ls01pwm.xml
+++ b/conf/airframes/esden/quady_ls01pwm.xml
@@ -127,7 +127,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/examples/Twinstar_energyadaptive.xml b/conf/airframes/examples/Twinstar_energyadaptive.xml
index 66e236d673..b65867a8df 100644
--- a/conf/airframes/examples/Twinstar_energyadaptive.xml
+++ b/conf/airframes/examples/Twinstar_energyadaptive.xml
@@ -121,7 +121,6 @@ twog_1.0 + aspirin + ETS baro + ETS speed
   </section>
 
    <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="0.3"/>
     <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
   </section>
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index e93ccf9d2c..82d8b1b746 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -148,7 +148,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/examples/easystar_ets.xml b/conf/airframes/examples/easystar_ets.xml
index ea1d6b70d2..4f23f35360 100644
--- a/conf/airframes/examples/easystar_ets.xml
+++ b/conf/airframes/examples/easystar_ets.xml
@@ -19,7 +19,6 @@
     <define name="USE_I2C0"/>
     <define name="USE_AIRSPEED"/>
     <define name="USE_BARO_ETS"/>
-    <define name="INS_BARO_SENS" value="0.32"/>
 
     <subsystem name="radio_control" type="ppm"/>
     <subsystem name="telemetry"     type="transparent"/>
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
index 5faaedebe3..893b038012 100644
--- a/conf/airframes/examples/h_hex.xml
+++ b/conf/airframes/examples/h_hex.xml
@@ -147,7 +147,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
index 44f2681826..b571a508e7 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
@@ -119,7 +119,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22." integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
index 4bf55eeb9f..a75893dd26 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
@@ -122,7 +122,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22." integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
index ebdda35837..53ebf044a0 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
@@ -112,7 +112,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22." integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
index cf85a484c0..ca6118751c 100644
--- a/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
+++ b/conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
@@ -108,7 +108,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22." integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 5e4869cb87..d6ae4f8628 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -146,7 +146,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index ea03629dd7..53bbf56cce 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -102,7 +102,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
index 06a69c6cf2..33619c4a57 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
@@ -104,7 +104,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index 4746f8f78d..654d30fc8c 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -94,7 +94,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/quadrotor_lisa_s.xml b/conf/airframes/examples/quadrotor_lisa_s.xml
index 6cee5b9cfa..db0f89502a 100644
--- a/conf/airframes/examples/quadrotor_lisa_s.xml
+++ b/conf/airframes/examples/quadrotor_lisa_s.xml
@@ -145,7 +145,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/examples/quadrotor_mlkf.xml b/conf/airframes/examples/quadrotor_mlkf.xml
index 8778f766e9..83866d79ab 100644
--- a/conf/airframes/examples/quadrotor_mlkf.xml
+++ b/conf/airframes/examples/quadrotor_mlkf.xml
@@ -100,7 +100,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/quadrotor_navgo.xml b/conf/airframes/examples/quadrotor_navgo.xml
index e7f5a5ad05..d36f1925c1 100644
--- a/conf/airframes/examples/quadrotor_navgo.xml
+++ b/conf/airframes/examples/quadrotor_navgo.xml
@@ -128,7 +128,6 @@
   <section name="INS" prefix="INS_">
     <!-- datasheet 1.4 mm/LSB : 0.0014*2^8 = 0.3584 -->
     <!-- calibration SENS = 1.156 :( -->
-    <define name="BARO_SENS" value="1.156" integer="16"/>
     <define name="SONAR_SENS" value="0.0128633" integer="16"/>
     <define name="SONAR_OFFSET" value="7"/>
     <define name="SONAR_MAX_RANGE" value="4.0"/>
diff --git a/conf/airframes/examples/quadrotor_px4fmu.xml b/conf/airframes/examples/quadrotor_px4fmu.xml
index a67d1738fd..301cae338f 100644
--- a/conf/airframes/examples/quadrotor_px4fmu.xml
+++ b/conf/airframes/examples/quadrotor_px4fmu.xml
@@ -98,7 +98,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/examples/quadshot_asp21_spektrum.xml b/conf/airframes/examples/quadshot_asp21_spektrum.xml
index d5fc8439fd..69386a3d99 100644
--- a/conf/airframes/examples/quadshot_asp21_spektrum.xml
+++ b/conf/airframes/examples/quadshot_asp21_spektrum.xml
@@ -184,7 +184,6 @@ More information on the Quadshot can be found at transition-robotics.com -->
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.4" integer="16"/>
   </section>
 
  <!-- Gains for vertical navigation -->
diff --git a/conf/airframes/examples/stm32f4_discovery_test.xml b/conf/airframes/examples/stm32f4_discovery_test.xml
index d5da1a6a6c..0e191f57f9 100644
--- a/conf/airframes/examples/stm32f4_discovery_test.xml
+++ b/conf/airframes/examples/stm32f4_discovery_test.xml
@@ -97,7 +97,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 7fec69072c..0fdfd315c1 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -138,7 +138,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/obsolete/ENAC/g1_vision.xml b/conf/airframes/obsolete/ENAC/g1_vision.xml
index d24b588c2e..3ffcf3ec2c 100644
--- a/conf/airframes/obsolete/ENAC/g1_vision.xml
+++ b/conf/airframes/obsolete/ENAC/g1_vision.xml
@@ -130,7 +130,6 @@
   </section>
 
   <section name="INS" prefix="BOOZ_INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
     <define name="SONAR_SENS" value="2.146" integer="16"/>
   </section>
 
diff --git a/conf/airframes/obsolete/ENAC/mkk1-vision.xml b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
index 4d78dbd80b..eccb54ea99 100644
--- a/conf/airframes/obsolete/ENAC/mkk1-vision.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1-vision.xml
@@ -163,7 +163,6 @@
   </section>
 
   <section name="INS" prefix="BOOZ_INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
     <!--define name="SONAR_SENS" value="2.146" integer="16"/-->
     <define name="SONAR_SENS" value="3." integer="16"/>
   </section>
diff --git a/conf/airframes/obsolete/ENAC/mkk1.xml b/conf/airframes/obsolete/ENAC/mkk1.xml
index 18a9742bc7..99f0d73b7d 100644
--- a/conf/airframes/obsolete/ENAC/mkk1.xml
+++ b/conf/airframes/obsolete/ENAC/mkk1.xml
@@ -193,7 +193,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/ENAC/nova1.xml b/conf/airframes/obsolete/ENAC/nova1.xml
index 0ef106ba39..1bd3135b95 100644
--- a/conf/airframes/obsolete/ENAC/nova1.xml
+++ b/conf/airframes/obsolete/ENAC/nova1.xml
@@ -164,7 +164,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index 0c2cfe06c0..c8f68b580e 100644
--- a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -149,7 +149,6 @@
 
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 6d60135e55..b5b958a8ed 100644
--- a/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/obsolete/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -166,7 +166,6 @@
 
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/Poine/booz2_a1.xml b/conf/airframes/obsolete/Poine/booz2_a1.xml
index 5823e29e03..6a66e8dfe2 100644
--- a/conf/airframes/obsolete/Poine/booz2_a1.xml
+++ b/conf/airframes/obsolete/Poine/booz2_a1.xml
@@ -142,7 +142,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/Poine/booz2_a7.xml b/conf/airframes/obsolete/Poine/booz2_a7.xml
index d3f23c31fd..d7fe9909c6 100644
--- a/conf/airframes/obsolete/Poine/booz2_a7.xml
+++ b/conf/airframes/obsolete/Poine/booz2_a7.xml
@@ -161,7 +161,6 @@
 
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/Poine/h_hex.xml b/conf/airframes/obsolete/Poine/h_hex.xml
index 252cdacf33..7eb7fe8fee 100644
--- a/conf/airframes/obsolete/Poine/h_hex.xml
+++ b/conf/airframes/obsolete/Poine/h_hex.xml
@@ -128,7 +128,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
index 10b61e41a0..9276b95eff 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_BOOZ.xml
@@ -216,7 +216,6 @@ second attempt
 
 
   <section name="INS" prefix="INS_">
-	<define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
index 5f3ee2a945..57642ca562 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_LISA.xml
@@ -153,7 +153,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
index 406d6de2c0..f22da3d19a 100644
--- a/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/obsolete/UofAdelaide/A1000_NOVA.xml
@@ -171,7 +171,6 @@
 	</section>
 
   <section name="INS" prefix="INS_">
-	<define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
index 3328cc4b18..c350ad5ef2 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -171,7 +171,6 @@
     </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
index 82f499852b..4202753b78 100644
--- a/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/booz2_a1000.xml
@@ -217,7 +217,6 @@ second attempt
 
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
index 0cecb4fdb2..01c4ed126f 100644
--- a/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/obsolete/UofAdelaide/lisa_a1000.xml
@@ -132,7 +132,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/booz2_Aron.xml b/conf/airframes/obsolete/booz2_Aron.xml
index a5a48f5295..754f24d400 100644
--- a/conf/airframes/obsolete/booz2_Aron.xml
+++ b/conf/airframes/obsolete/booz2_Aron.xml
@@ -134,7 +134,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml
index aa12a6dfdd..928ac58841 100644
--- a/conf/airframes/obsolete/booz2_NoVa.xml
+++ b/conf/airframes/obsolete/booz2_NoVa.xml
@@ -171,7 +171,6 @@
     </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
index 81c9021e83..088bf5a7ec 100644
--- a/conf/airframes/obsolete/booz2_NoVa_001.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_001.xml
@@ -171,7 +171,6 @@
     </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
index ed879fb742..1f268ba327 100644
--- a/conf/airframes/obsolete/booz2_NoVa_002.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_002.xml
@@ -171,7 +171,6 @@
     </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/booz2_a1p.xml b/conf/airframes/obsolete/booz2_a1p.xml
index 18ff3d98f8..22d5124d79 100644
--- a/conf/airframes/obsolete/booz2_a1p.xml
+++ b/conf/airframes/obsolete/booz2_a1p.xml
@@ -146,7 +146,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml
index d0f9361638..df65d7bb25 100644
--- a/conf/airframes/obsolete/booz2_a2.xml
+++ b/conf/airframes/obsolete/booz2_a2.xml
@@ -134,7 +134,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml
index 0635e3ce89..086855cb34 100644
--- a/conf/airframes/obsolete/booz2_a3.xml
+++ b/conf/airframes/obsolete/booz2_a3.xml
@@ -121,7 +121,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/booz2_a4.xml b/conf/airframes/obsolete/booz2_a4.xml
index e9cc7ede69..883dd43ef9 100644
--- a/conf/airframes/obsolete/booz2_a4.xml
+++ b/conf/airframes/obsolete/booz2_a4.xml
@@ -99,7 +99,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="14.9" integer="16"/>
   </section>
 
 
diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml
index 6fc2fe07eb..e0c43ad6ee 100644
--- a/conf/airframes/obsolete/booz2_a5.xml
+++ b/conf/airframes/obsolete/booz2_a5.xml
@@ -138,7 +138,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/booz2_s1.xml b/conf/airframes/obsolete/booz2_s1.xml
index 4cf6bb4bbe..c4a37b4cf7 100644
--- a/conf/airframes/obsolete/booz2_s1.xml
+++ b/conf/airframes/obsolete/booz2_s1.xml
@@ -130,7 +130,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="15." integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/booz2_x1.xml b/conf/airframes/obsolete/booz2_x1.xml
index 370920cd85..ee626f8deb 100644
--- a/conf/airframes/obsolete/booz2_x1.xml
+++ b/conf/airframes/obsolete/booz2_x1.xml
@@ -141,7 +141,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="19." integer="16"/>
   </section>
 
   <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/example_heli_lisam.xml b/conf/airframes/obsolete/example_heli_lisam.xml
index 79e8d519ac..c0d13704d0 100644
--- a/conf/airframes/obsolete/example_heli_lisam.xml
+++ b/conf/airframes/obsolete/example_heli_lisam.xml
@@ -181,7 +181,6 @@ AP_MODE_NAV
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="3.3" integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/mm/rotor/qmk1.xml b/conf/airframes/obsolete/mm/rotor/qmk1.xml
index 37b3b6c07a..3d05729aa2 100644
--- a/conf/airframes/obsolete/mm/rotor/qmk1.xml
+++ b/conf/airframes/obsolete/mm/rotor/qmk1.xml
@@ -141,8 +141,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-<!--    <define name="BARO_SENS" value="15." integer="16"/> -->
-    <define name="BARO_SENS" value="10." integer="16"/>
   </section>
 
  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
index 5d1b3e397d..3e43cd0eda 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_l_mkk.xml
@@ -119,7 +119,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="10" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
index 5343031357..0bac6a6e4e 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_1_pwm.xml
@@ -82,7 +82,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
index 2ba487a784..f2e2ee5a09 100644
--- a/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
+++ b/conf/airframes/obsolete/mm/rotor/quadrotor_lisa_m_2_pwm.xml
@@ -89,7 +89,6 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="BARO_SENS" value="22.3" integer="16"/>
   </section>
 
   <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c
index c5dd55502f..c92edb3f1e 100644
--- a/sw/airborne/modules/sensors/baro_amsys.c
+++ b/sw/airborne/modules/sensors/baro_amsys.c
@@ -144,8 +144,8 @@ void baro_amsys_read_periodic( void ) {
   }
   pBaroRaw = 0;
   baro_amsys_altitude = gps.hmsl / 1000.0;
-  baro_amsys_adc = baro_amsys_offset - ((baro_amsys_altitude - ground_alt) / INS_BARO_SENS);
   baro_amsys_p = pprz_isa_pressure_of_altitude(baro_amsys_altitude);
+  baro_amsys_adc = baro_amsys_p;
   AbiSendMsgBARO_ABS(BARO_AMSYS_SENDER_ID, &baro_amsys_p);
   baro_amsys_valid = TRUE;
 #endif