diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
index 3616061a7c..ab551d0482 100644
--- a/conf/firmwares/rotorcraft.makefile
+++ b/conf/firmwares/rotorcraft.makefile
@@ -172,17 +172,17 @@ LISA_M_BARO ?= BARO_BOARD_BMP085
   ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
     include $(CFG_SHARED)/spi_master.makefile
     ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
-	ap.srcs += peripherals/ms5611.c
-	ap.srcs += peripherals/ms5611_spi.c
-    ap.srcs += $(SRC_BOARD)/baro_ms5611_spi.c
+    ap.srcs += peripherals/ms5611.c
+    ap.srcs += peripherals/ms5611_spi.c
+    ap.srcs += subsystems/sensors/baro_ms5611_spi.c
   else ifeq ($(LISA_M_BARO), BARO_MS5611_I2C)
     ap.CFLAGS += -DUSE_I2C2
-	ap.srcs += peripherals/ms5611.c
-	ap.srcs += peripherals/ms5611_i2c.c
-    ap.srcs += $(SRC_BOARD)/baro_ms5611_i2c.c
+    ap.srcs += peripherals/ms5611.c
+    ap.srcs += peripherals/ms5611_i2c.c
+    ap.srcs += subsystems/sensors/baro_ms5611_i2c.c
   else ifeq ($(LISA_M_BARO), BARO_BOARD_BMP085)
     ap.srcs += $(SRC_BOARD)/baro_board.c
-	ap.CFLAGS += -DUSE_I2C2
+    ap.CFLAGS += -DUSE_I2C2
   endif
   ap.CFLAGS += -D$(LISA_M_BARO)
 
@@ -193,14 +193,14 @@ LIA_BARO ?= BARO_MS5611_SPI
   ifeq ($(LIA_BARO), BARO_MS5611_SPI)
     include $(CFG_SHARED)/spi_master.makefile
     ap.CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
-	ap.srcs += peripherals/ms5611.c
-	ap.srcs += peripherals/ms5611_spi.c
-    ap.srcs += boards/lisa_m/baro_ms5611_spi.c
+    ap.srcs += peripherals/ms5611.c
+    ap.srcs += peripherals/ms5611_spi.c
+    ap.srcs += subsystems/sensors/baro_ms5611_spi.c
   else ifeq ($(LIA_BARO), BARO_MS5611_I2C)
     ap.CFLAGS += -DUSE_I2C2
-	ap.srcs += peripherals/ms5611.c
-	ap.srcs += peripherals/ms5611_i2c.c
-    ap.srcs += boards/lisa_m/baro_ms5611_i2c.c
+    ap.srcs += peripherals/ms5611.c
+    ap.srcs += peripherals/ms5611_i2c.c
+    ap.srcs += subsystems/sensors/baro_ms5611_i2c.c
   endif
   ap.CFLAGS += -D$(LIA_BARO)
 
@@ -214,7 +214,10 @@ ap.srcs += $(SRC_BOARD)/baro_board.c
 
 # krooz baro
 else ifeq ($(BOARD), krooz)
-ap.srcs += $(SRC_BOARD)/baro_board.c
+ap.CFLAGS += -DMS5611_I2C_DEV=i2c0
+ap.srcs += peripherals/ms5611.c
+ap.srcs += peripherals/ms5611_i2c.c
+ap.srcs += subsystems/sensors/baro_ms5611_i2c.c
 
 # apogee baro
 else ifeq ($(BOARD), apogee)
diff --git a/sw/airborne/boards/krooz/baro_board.c b/sw/airborne/boards/krooz/baro_board.c
deleted file mode 100644
index bc042c6cd0..0000000000
--- a/sw/airborne/boards/krooz/baro_board.c
+++ /dev/null
@@ -1,30 +0,0 @@
-
-#include "subsystems/sensors/baro.h"
-#include "baro_board.h"
-
-struct Baro baro;
-
-void baro_init(void) {
-  baro_ms5611_init();
-}
-
-void baro_periodic(void) {
-    static uint8_t cnt;
-    switch(cnt) {
-      case 0:
-      baro_ms5611_periodic();
-      cnt++;
-      break;
-      case 1:
-      baro_ms5611_d1();
-      cnt++;
-      break;
-      case 2:
-      baro_ms5611_d2();
-      cnt = 0;
-      break;
-      default:
-      cnt = 0;
-      break;
-    }
-}
diff --git a/sw/airborne/boards/krooz/baro_board.h b/sw/airborne/boards/krooz/baro_board.h
index b73f33d90d..5f47ad650e 100644
--- a/sw/airborne/boards/krooz/baro_board.h
+++ b/sw/airborne/boards/krooz/baro_board.h
@@ -1,30 +1,14 @@
 
 /*
- * board specific fonctions for the KroozSD board
+ * board specific interface for the KroozSD board
  *
+ * It uses the subsystems/sensors/baro_ms5611_i2c.c driver
  */
 
 #ifndef BOARDS_KROOZ_BARO_H
 #define BOARDS_KROOZ_BARO_H
 
-#include "std.h"
-#include "mcu_periph/i2c.h"
-#include "modules/sensors/baro_ms5611_i2c.h"
-#include "math/pprz_algebra_int.h"
-
-//#include "led.h"
-
-static inline void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void))
-{
-  baro_ms5611_event();
-  if(baro_ms5611_valid) {
-    baro.status = BS_RUNNING;
-    baro.absolute = (int32_t)baroms;
-    b_abs_handler();
-    baro_ms5611_valid = FALSE;
-  }
-}
-
-#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler,_b_diff_handler)
+extern void baro_event(void (*b_abs_handler)(void));
+#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler)
 
 #endif /* BOARDS_KROOZ_SD_BARO_H */
diff --git a/sw/airborne/boards/lisa_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.c
index b51743c30a..77afc80485 100644
--- a/sw/airborne/boards/lisa_m/baro_board.c
+++ b/sw/airborne/boards/lisa_m/baro_board.c
@@ -167,7 +167,7 @@ static int32_t baro_apply_calibration(int32_t raw)
   return p + ((x1 + x2 + 3791) >> 4);
 }
 
-void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void))
+void baro_event(void (*b_abs_handler)(void))
 {
   if (baro_board.status == LBS_READING &&
       baro_trans.status != I2CTransPending && baro_trans.status != I2CTransRunning) {
@@ -183,13 +183,11 @@ void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void))
       baro_trans.status != I2CTransPending && baro_trans.status != I2CTransRunning) {
     baro_board.status = LBS_REQUEST;
     if (baro_trans.status == I2CTransSuccess) {
-      // abuse differential to store temp in 0.1C for now
       int32_t tmp = (baro_trans.buf[0] << 8) | baro_trans.buf[1];
       int32_t x1 = ((tmp - calibration.ac6) * calibration.ac5) >> 15;
       int32_t x2 = (calibration.mc << 11) / (x1 + calibration.md);
       calibration.b5 = x1 + x2;
-      baro.differential = (calibration.b5 + 8) >> 4;
-      b_diff_handler();
+      baro_board.temp = (calibration.b5 + 8) >> 4;
     }
   }
 }
diff --git a/sw/airborne/boards/lisa_m/baro_board.h b/sw/airborne/boards/lisa_m/baro_board.h
index 42014ddeee..dd62dfb5ba 100644
--- a/sw/airborne/boards/lisa_m/baro_board.h
+++ b/sw/airborne/boards/lisa_m/baro_board.h
@@ -31,6 +31,7 @@ enum LisaBaroStatus {
 
 struct BaroBoard {
   enum LisaBaroStatus status;
+  int32_t temp;  ///< temperature in 0.1C
 };
 
 struct bmp085_baro_calibration {
@@ -60,8 +61,8 @@ extern void baro_board_send_config(void);
 
 #endif  // !BARO_MS5611_xx
 
-extern void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void));
+extern void baro_event(void (*b_abs_handler)(void));
 
-#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler,_b_diff_handler)
+#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler)
 
 #endif /* BOARDS_LISA_M_BARO_H */
diff --git a/sw/airborne/boards/lisa_m/baro_ms5611_i2c.c b/sw/airborne/subsystems/sensors/baro_ms5611_i2c.c
similarity index 96%
rename from sw/airborne/boards/lisa_m/baro_ms5611_i2c.c
rename to sw/airborne/subsystems/sensors/baro_ms5611_i2c.c
index 989096848a..a301213aab 100644
--- a/sw/airborne/boards/lisa_m/baro_ms5611_i2c.c
+++ b/sw/airborne/subsystems/sensors/baro_ms5611_i2c.c
@@ -23,7 +23,7 @@
 /**
  * @file boards/lisa_m/baro_ms5611_i2c.c
  *
- * Driver for MS5611 baro on LisaM/Aspirin2.1 via I2C.
+ * Driver for MS5611 baro via I2C.
  *
  */
 
@@ -94,7 +94,7 @@ void baro_periodic(void) {
   }
 }
 
-void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
+void baro_event(void (*b_abs_handler)(void)){
   if (sys_time.nb_sec > 1) {
     ms5611_i2c_event(&baro_ms5611);
 
diff --git a/sw/airborne/boards/lisa_m/baro_ms5611_spi.c b/sw/airborne/subsystems/sensors/baro_ms5611_spi.c
similarity index 97%
rename from sw/airborne/boards/lisa_m/baro_ms5611_spi.c
rename to sw/airborne/subsystems/sensors/baro_ms5611_spi.c
index 84091d5a04..127f07c31c 100644
--- a/sw/airborne/boards/lisa_m/baro_ms5611_spi.c
+++ b/sw/airborne/subsystems/sensors/baro_ms5611_spi.c
@@ -93,7 +93,7 @@ void baro_periodic(void) {
   }
 }
 
-void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void)){
+void baro_event(void (*b_abs_handler)(void)){
   if (sys_time.nb_sec > 1) {
     ms5611_spi_event(&baro_ms5611);