diff --git a/conf/modules/airspeed_adc.xml b/conf/modules/airspeed_adc.xml
index 0121534ade..b064967f15 100644
--- a/conf/modules/airspeed_adc.xml
+++ b/conf/modules/airspeed_adc.xml
@@ -16,7 +16,7 @@
   <periodic fun="airspeed_adc_update()" freq="10."/>
 
   <makefile>
-    <file name="airspeed_adc.c"/> 
+    <file name="airspeed_adc.c"/>
   </makefile>
   <makefile target="ap">
     <flag name="ADC_CHANNEL_AIRSPEED" value="$(ADC_AIRSPEED)"/>
diff --git a/conf/modules/airspeed_ets.xml b/conf/modules/airspeed_ets.xml
index 9bde519b64..bc56326e73 100644
--- a/conf/modules/airspeed_ets.xml
+++ b/conf/modules/airspeed_ets.xml
@@ -16,7 +16,7 @@
   </header>
   <init fun="airspeed_ets_init()"/>
   <periodic fun="airspeed_ets_read_periodic()" freq="10."/>
-  <event fun="airspeed_ets_event()"/>
+  <event fun="AirspeedEtsEvent()"/>
 
   <makefile>
     <file name="airspeed_ets.c"/>
diff --git a/conf/modules/baro_ets.xml b/conf/modules/baro_ets.xml
index e054d0e2ba..7d2c9351ea 100644
--- a/conf/modules/baro_ets.xml
+++ b/conf/modules/baro_ets.xml
@@ -12,7 +12,7 @@
   </header>
   <init fun="baro_ets_init()"/>
   <periodic fun="baro_ets_read_periodic()" freq="10."/>
-  <event fun="baro_ets_event()"/>
+  <event fun="BaroEtsEvent()"/>
 
   <makefile>
     <file name="baro_ets.c"/>
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
index 7b8ae76096..e00164cb96 100644
--- a/sw/airborne/modules/sensors/airspeed_ets.c
+++ b/sw/airborne/modules/sensors/airspeed_ets.c
@@ -109,68 +109,64 @@ void airspeed_ets_read_periodic( void ) {
 #endif //SITL
 }
 
-void airspeed_ets_event( void ) {
+void airspeed_ets_read_event( void ) {
+  int n;
+  float airspeed_tmp = 0.0;
 
-  if (airspeed_ets_i2c_trans.status == I2CTransSuccess) {
-    int n;
-    float airspeed_tmp = 0.0;
+  // Get raw airspeed from buffer
+  airspeed_ets_raw = ((uint16_t)(airspeed_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(airspeed_ets_i2c_trans.buf[0]);
+  // Check if this is valid airspeed
+  if (airspeed_ets_raw == 0)
+    airspeed_ets_valid = FALSE;
+  else
+    airspeed_ets_valid = TRUE;
 
-    // Get raw airspeed from buffer
-    airspeed_ets_raw = ((uint16_t)(airspeed_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(airspeed_ets_i2c_trans.buf[0]);
-    // Check if this is valid airspeed
-    if (airspeed_ets_raw == 0)
-      airspeed_ets_valid = FALSE;
-    else
-      airspeed_ets_valid = TRUE;
-
-    // Continue only if a new airspeed value was received
-    if (airspeed_ets_valid) {
-      // Calculate offset average if not done already
-      if (!airspeed_ets_offset_init) {
-        --airspeed_ets_cnt;
-        // Check if averaging completed
-        if (airspeed_ets_cnt == 0) {
-          // Calculate average
-          airspeed_ets_offset = (uint16_t)(airspeed_ets_offset_tmp / AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG);
-          // Limit offset
-          if (airspeed_ets_offset < AIRSPEED_ETS_OFFSET_MIN)
-            airspeed_ets_offset = AIRSPEED_ETS_OFFSET_MIN;
-          if (airspeed_ets_offset > AIRSPEED_ETS_OFFSET_MAX)
-            airspeed_ets_offset = AIRSPEED_ETS_OFFSET_MAX;
-          airspeed_ets_offset_init = TRUE;
-        }
-        // Check if averaging needs to continue
-        else if (airspeed_ets_cnt <= AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG)
-          airspeed_ets_offset_tmp += airspeed_ets_raw;
+  // Continue only if a new airspeed value was received
+  if (airspeed_ets_valid) {
+    // Calculate offset average if not done already
+    if (!airspeed_ets_offset_init) {
+      --airspeed_ets_cnt;
+      // Check if averaging completed
+      if (airspeed_ets_cnt == 0) {
+        // Calculate average
+        airspeed_ets_offset = (uint16_t)(airspeed_ets_offset_tmp / AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG);
+        // Limit offset
+        if (airspeed_ets_offset < AIRSPEED_ETS_OFFSET_MIN)
+          airspeed_ets_offset = AIRSPEED_ETS_OFFSET_MIN;
+        if (airspeed_ets_offset > AIRSPEED_ETS_OFFSET_MAX)
+          airspeed_ets_offset = AIRSPEED_ETS_OFFSET_MAX;
+        airspeed_ets_offset_init = TRUE;
       }
-      // Convert raw to m/s
-      if (airspeed_ets_offset_init && airspeed_ets_raw > airspeed_ets_offset)
-        airspeed_tmp = AIRSPEED_ETS_SCALE * sqrtf( (float)(airspeed_ets_raw-airspeed_ets_offset) ) - AIRSPEED_ETS_OFFSET;
-      else
-        airspeed_tmp = 0.0;
-      // Airspeed should always be positive
-      if (airspeed_tmp < 0.0)
-        airspeed_tmp = 0.0;
-      // Moving average
-      airspeed_ets_buffer[airspeed_ets_buffer_idx++] = airspeed_tmp;
-      if (airspeed_ets_buffer_idx >= AIRSPEED_ETS_NBSAMPLES_AVRG)
-        airspeed_ets_buffer_idx = 0;
-      airspeed_ets = 0.0;
-      for (n = 0; n < AIRSPEED_ETS_NBSAMPLES_AVRG; ++n)
-        airspeed_ets += airspeed_ets_buffer[n];
-      airspeed_ets = airspeed_ets / (float)AIRSPEED_ETS_NBSAMPLES_AVRG;
+      // Check if averaging needs to continue
+      else if (airspeed_ets_cnt <= AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG)
+        airspeed_ets_offset_tmp += airspeed_ets_raw;
+    }
+    // Convert raw to m/s
+    if (airspeed_ets_offset_init && airspeed_ets_raw > airspeed_ets_offset)
+      airspeed_tmp = AIRSPEED_ETS_SCALE * sqrtf( (float)(airspeed_ets_raw-airspeed_ets_offset) ) - AIRSPEED_ETS_OFFSET;
+    else
+      airspeed_tmp = 0.0;
+    // Airspeed should always be positive
+    if (airspeed_tmp < 0.0)
+      airspeed_tmp = 0.0;
+    // Moving average
+    airspeed_ets_buffer[airspeed_ets_buffer_idx++] = airspeed_tmp;
+    if (airspeed_ets_buffer_idx >= AIRSPEED_ETS_NBSAMPLES_AVRG)
+      airspeed_ets_buffer_idx = 0;
+    airspeed_ets = 0.0;
+    for (n = 0; n < AIRSPEED_ETS_NBSAMPLES_AVRG; ++n)
+      airspeed_ets += airspeed_ets_buffer[n];
+    airspeed_ets = airspeed_ets / (float)AIRSPEED_ETS_NBSAMPLES_AVRG;
 #ifdef USE_AIRSPEED
-      EstimatorSetAirspeed(airspeed_ets);
+    EstimatorSetAirspeed(airspeed_ets);
 #endif
 #ifdef SENSOR_SYNC_SEND
-      DOWNLINK_SEND_AIRSPEED_ETS(DefaultChannel, &airspeed_ets_raw, &airspeed_ets_offset, &airspeed_ets);
+    DOWNLINK_SEND_AIRSPEED_ETS(DefaultChannel, &airspeed_ets_raw, &airspeed_ets_offset, &airspeed_ets);
 #endif
-    } else {
-      airspeed_ets = 0.0;
-    }
-
-    // Transaction has been read
-    airspeed_ets_i2c_trans.status = I2CTransDone;
-
+  } else {
+    airspeed_ets = 0.0;
   }
+
+  // Transaction has been read
+  airspeed_ets_i2c_trans.status = I2CTransDone;
 }
diff --git a/sw/airborne/modules/sensors/airspeed_ets.h b/sw/airborne/modules/sensors/airspeed_ets.h
index b14f3f2544..6ce9db430c 100644
--- a/sw/airborne/modules/sensors/airspeed_ets.h
+++ b/sw/airborne/modules/sensors/airspeed_ets.h
@@ -50,6 +50,8 @@ extern struct i2c_transaction airspeed_ets_i2c_trans;
 
 extern void airspeed_ets_init( void );
 extern void airspeed_ets_read_periodic( void );
-extern void airspeed_ets_event( void );
+extern void airspeed_ets_read_event( void );
+
+#define AirspeedEtsEvent() { if (airspeed_ets_i2c_trans.status == I2CTransSuccess) airspeed_ets_read_event(); }
 
 #endif // AIRSPEED_ETS_H
diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
index 9775c3d405..d1164a0d19 100644
--- a/sw/airborne/modules/sensors/baro_ets.c
+++ b/sw/airborne/modules/sensors/baro_ets.c
@@ -102,48 +102,46 @@ void baro_ets_read_periodic( void ) {
 #endif
 }
 
-void baro_ets_event( void ) {
-  if (baro_ets_i2c_trans.status == I2CTransSuccess) {
-    // Get raw altimeter from buffer
-    baro_ets_adc = ((uint16_t)(baro_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(baro_ets_i2c_trans.buf[0]);
-    // Check if this is valid altimeter
-    if (baro_ets_adc == 0)
-      baro_ets_valid = FALSE;
-    else
-      baro_ets_valid = TRUE;
+void baro_ets_read_event( void ) {
+  // Get raw altimeter from buffer
+  baro_ets_adc = ((uint16_t)(baro_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(baro_ets_i2c_trans.buf[0]);
+  // Check if this is valid altimeter
+  if (baro_ets_adc == 0)
+    baro_ets_valid = FALSE;
+  else
+    baro_ets_valid = TRUE;
 
-    // Continue only if a new altimeter value was received
-    if (baro_ets_valid) {
-      // Calculate offset average if not done already
-      if (!baro_ets_offset_init) {
-        --baro_ets_cnt;
-        // Check if averaging completed
-        if (baro_ets_cnt == 0) {
-          // Calculate average
-          baro_ets_offset = (uint16_t)(baro_ets_offset_tmp / BARO_ETS_OFFSET_NBSAMPLES_AVRG);
-          // Limit offset
-          if (baro_ets_offset < BARO_ETS_OFFSET_MIN)
-            baro_ets_offset = BARO_ETS_OFFSET_MIN;
-          if (baro_ets_offset > BARO_ETS_OFFSET_MAX)
-            baro_ets_offset = BARO_ETS_OFFSET_MAX;
-          baro_ets_offset_init = TRUE;
-        }
-        // Check if averaging needs to continue
-        else if (baro_ets_cnt <= BARO_ETS_OFFSET_NBSAMPLES_AVRG)
-          baro_ets_offset_tmp += baro_ets_adc;
+  // Continue only if a new altimeter value was received
+  if (baro_ets_valid) {
+    // Calculate offset average if not done already
+    if (!baro_ets_offset_init) {
+      --baro_ets_cnt;
+      // Check if averaging completed
+      if (baro_ets_cnt == 0) {
+        // Calculate average
+        baro_ets_offset = (uint16_t)(baro_ets_offset_tmp / BARO_ETS_OFFSET_NBSAMPLES_AVRG);
+        // Limit offset
+        if (baro_ets_offset < BARO_ETS_OFFSET_MIN)
+          baro_ets_offset = BARO_ETS_OFFSET_MIN;
+        if (baro_ets_offset > BARO_ETS_OFFSET_MAX)
+          baro_ets_offset = BARO_ETS_OFFSET_MAX;
+        baro_ets_offset_init = TRUE;
       }
-      // Convert raw to m/s
-      if (baro_ets_offset_init)
-        baro_ets_altitude = BARO_ETS_SCALE * (float)(baro_ets_offset-baro_ets_adc);
-      else
-        baro_ets_altitude = 0.0;
-      // New value available
-      EstimatorSetAlt(baro_ets_altitude);
-    } else {
-      baro_ets_altitude = 0.0;
+      // Check if averaging needs to continue
+      else if (baro_ets_cnt <= BARO_ETS_OFFSET_NBSAMPLES_AVRG)
+        baro_ets_offset_tmp += baro_ets_adc;
     }
-
-    // Transaction has been read
-    baro_ets_i2c_trans.status = I2CTransDone;
+    // Convert raw to m/s
+    if (baro_ets_offset_init)
+      baro_ets_altitude = BARO_ETS_SCALE * (float)(baro_ets_offset-baro_ets_adc);
+    else
+      baro_ets_altitude = 0.0;
+    // New value available
+    EstimatorSetAlt(baro_ets_altitude);
+  } else {
+    baro_ets_altitude = 0.0;
   }
+
+  // Transaction has been read
+  baro_ets_i2c_trans.status = I2CTransDone;
 }
diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h
index a288bcfbdf..337c4c041c 100644
--- a/sw/airborne/modules/sensors/baro_ets.h
+++ b/sw/airborne/modules/sensors/baro_ets.h
@@ -56,6 +56,8 @@ extern struct i2c_transaction baro_ets_i2c_trans;
 
 extern void baro_ets_init( void );
 extern void baro_ets_read_periodic( void );
-extern void baro_ets_event( void );
+extern void baro_ets_read_event( void );
+
+#define BaroEtsEvent() { if (baro_ets_i2c_trans.status == I2CTransSuccess) baro_ets_read_event(); }
 
 #endif // BARO_ETS_H