diff --git a/sw/airborne/modules/sensors/baro_amsys.c b/sw/airborne/modules/sensors/baro_amsys.c
index 9a6e1c0e7c..faa014ff94 100644
--- a/sw/airborne/modules/sensors/baro_amsys.c
+++ b/sw/airborne/modules/sensors/baro_amsys.c
@@ -31,6 +31,7 @@
 
 #ifdef SITL
 #include "subsystems/gps.h"
+#include "subsystems/navigation/common_nav.h"
 #endif
 
 //Messages
diff --git a/sw/airborne/modules/sensors/baro_board_module.h b/sw/airborne/modules/sensors/baro_board_module.h
index 57ae9dd4af..bc5f48d23b 100644
--- a/sw/airborne/modules/sensors/baro_board_module.h
+++ b/sw/airborne/modules/sensors/baro_board_module.h
@@ -54,7 +54,13 @@
 
 /** BaroEvent macro.
  *  Need to be maped to one the external baro running has a module
+ *
+ *  Undef if necessary (already defined in a baro_board.h file)
  */
+#ifdef BaroEvent
+#undef BaroEvent
+#endif
+
 #define BaroEvent(_b_abs_handler, _b_diff_handler) {  \
     BARO_ABS_EVENT(baro.absolute, _b_abs_handler);       \
     BARO_DIFF_EVENT(baro.differential, _b_diff_handler); \