diff --git a/sw/airborne/boards/booz/baro_board.c b/sw/airborne/boards/booz/baro_board.c
index cc92db4224..aa43c684a5 100644
--- a/sw/airborne/boards/booz/baro_board.c
+++ b/sw/airborne/boards/booz/baro_board.c
@@ -21,7 +21,7 @@
  */
 
 
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 
 #include "generated/airframe.h"
 #include "led.h"
diff --git a/sw/airborne/boards/booz/baro_board.h b/sw/airborne/boards/booz/baro_board.h
index 135bebbdac..f1fae16a48 100644
--- a/sw/airborne/boards/booz/baro_board.h
+++ b/sw/airborne/boards/booz/baro_board.h
@@ -3,7 +3,7 @@
 
 #include "std.h"
 
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 #include "booz/booz2_analog.h"
 
 /* we don't need that on this board */
diff --git a/sw/airborne/boards/booz/test_baro.c b/sw/airborne/boards/booz/test_baro.c
index 05b81ae065..f00cbe54e9 100644
--- a/sw/airborne/boards/booz/test_baro.c
+++ b/sw/airborne/boards/booz/test_baro.c
@@ -29,12 +29,11 @@
 
 #include BOARD_CONFIG
 
-#include "init_hw.h"
-#include "interrupt_hw.h"
+#include "mcu.h"
 
 #include "sys_time.h"
 #include "downlink.h"
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -57,11 +56,11 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   booz2_analog_init();
   baro_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 
diff --git a/sw/airborne/boards/booz_1.0.h b/sw/airborne/boards/booz_1.0.h
index 51e461a3c9..7634648333 100644
--- a/sw/airborne/boards/booz_1.0.h
+++ b/sw/airborne/boards/booz_1.0.h
@@ -93,6 +93,8 @@
 #define PWM1_PINSEL_BIT 14
 
 
+#define BOARD_HAS_BARO
+
 /*
  * Modem
  */
diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c
index 0f30dbd2e9..3bf8cc2a20 100644
--- a/sw/airborne/boards/lisa_l/baro_board.c
+++ b/sw/airborne/boards/lisa_l/baro_board.c
@@ -1,5 +1,5 @@
 
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 
 struct Baro baro;
 struct BaroBoard baro_board;
diff --git a/sw/airborne/boards/lisa_l/test_baro.c b/sw/airborne/boards/lisa_l/test_baro.c
index dcd8122dd6..20e9dbef66 100644
--- a/sw/airborne/boards/lisa_l/test_baro.c
+++ b/sw/airborne/boards/lisa_l/test_baro.c
@@ -34,7 +34,7 @@
 
 #include "downlink.h"
 
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 //#include "my_debug_servo.h"
 
 static inline void main_init( void );
diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h
index 4d96d272e0..8724588595 100644
--- a/sw/airborne/boards/lisa_l_1.0.h
+++ b/sw/airborne/boards/lisa_l_1.0.h
@@ -23,5 +23,6 @@
 #define ADC_CHANNEL_VSUPPLY 2
 #define DefaultVoltageOfAdc(adc) (0.0059*adc)
 
+#define BOARD_HAS_BARO
 
 #endif /* CONFIG_LISA_V1_0_H */
diff --git a/sw/airborne/boards/pc/baro_board.c b/sw/airborne/boards/pc/baro_board.c
index dd87d54ffa..52f3cb19fe 100644
--- a/sw/airborne/boards/pc/baro_board.c
+++ b/sw/airborne/boards/pc/baro_board.c
@@ -1,6 +1,6 @@
 
 
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 
 
 struct Baro baro;
diff --git a/sw/airborne/booz/arch/lpc21/booz2_analog_hw.c b/sw/airborne/booz/arch/lpc21/booz2_analog_hw.c
index 8c1f2a68c7..a991d3e3ed 100644
--- a/sw/airborne/booz/arch/lpc21/booz2_analog_hw.c
+++ b/sw/airborne/booz/arch/lpc21/booz2_analog_hw.c
@@ -24,7 +24,7 @@
 #include "booz2_analog.h"
 
 /* analog_arch includes baro ??? naaaa we don't want double references */
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 #include "firmwares/rotorcraft/battery.h"
 
 #ifndef USE_EXTRA_ADC
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 7902eeff6d..4d72a022e3 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -41,7 +41,7 @@
 #include "booz_gps.h"
 
 #include "booz/booz2_analog.h"
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 
 #include "firmwares/rotorcraft/battery.h"
 
diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c
index 71a57920af..2a79c50762 100644
--- a/sw/airborne/lisa/lisa_stm_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c
@@ -45,7 +45,7 @@
 #include "csc_msg_def.h"
 #include "csc_protocol.h"
 
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 
 #include "mcu_periph/adc.h"
 
diff --git a/sw/airborne/modules/vehicle_interface/vi_overo_link.c b/sw/airborne/modules/vehicle_interface/vi_overo_link.c
index 7a38cb0b15..da14c6bcdb 100644
--- a/sw/airborne/modules/vehicle_interface/vi_overo_link.c
+++ b/sw/airborne/modules/vehicle_interface/vi_overo_link.c
@@ -26,7 +26,7 @@
 #include "lisa/lisa_overo_link.h"
 #include "subsystems/imu.h"
 #include <booz/booz_gps.h>
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 
 
 #include <string.h>
diff --git a/sw/airborne/subsystems/ins.c b/sw/airborne/subsystems/ins.c
index 779fec6f0c..eec5f17ea1 100644
--- a/sw/airborne/subsystems/ins.c
+++ b/sw/airborne/subsystems/ins.c
@@ -25,7 +25,7 @@
 #include "subsystems/ins.h"
 
 #include "subsystems/imu.h"
-#include "firmwares/rotorcraft/baro.h"
+#include "subsystems/sensors/baro.h"
 #include "booz_gps.h"
 
 #include "generated/airframe.h"
diff --git a/sw/airborne/firmwares/rotorcraft/baro.h b/sw/airborne/subsystems/sensors/baro.h
similarity index 73%
rename from sw/airborne/firmwares/rotorcraft/baro.h
rename to sw/airborne/subsystems/sensors/baro.h
index 2523823087..8c5669060f 100644
--- a/sw/airborne/firmwares/rotorcraft/baro.h
+++ b/sw/airborne/subsystems/sensors/baro.h
@@ -23,12 +23,12 @@
 
 /*
  *
- * Brief: common baro for a rotorcraft firmware
+ * Brief: common barometric sensor implementation
  *
  */
 
-#ifndef ROTORCRAFT_BARO_H
-#define ROTORCRAFT_BARO_H
+#ifndef SUBSYSTEMS_SENSORS_BARO_H
+#define SUBSYSTEMS_SENSORS_BARO_H
 
 #include <std.h>
 
@@ -37,6 +37,7 @@ enum BaroStatus {
   BS_RUNNING
 };
 
+/* pressure in which units ? */
 struct Baro {
   int32_t absolute;
   int32_t differential;
@@ -45,20 +46,12 @@ struct Baro {
 
 extern struct Baro baro;
 
-#if 0
 #include BOARD_CONFIG
-#define BOARD_MODEL_BOOZ   0
-#define BOARD_MODEL_LISA_L 1
-#if defined BOARD_MODEL && BOARD_MODEL==BOARD_MODEL_BOOZ
-#include "boards/booz/baro_board.h"
-#elsif defined BOARD_MODEL && BOARD_MODEL==BOARD_MODEL_LISA_L
-#include "boards/lisa_l/baro_board.h"
-#endif
-#else /* 0 */
+#if defined BOARD_HAS_BARO
 #include "baro_board.h"
-#endif /* 0 */
+#endif
 
 extern void baro_init(void);
 extern void baro_periodic(void);
 
-#endif /* ROTORCRAFT_BARO_H */
+#endif /* SUBSYSTEMS_SENSORS_BARO_H */