diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index 3f828c2bd5..50613ed039 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -121,19 +121,16 @@ void AP_Baro_BMP085::accumulate(void)
  */
 void AP_Baro_BMP085::update(void)
 {
-    if (_count == 0 && _data_ready()) {
+    if (!_has_sample && _data_ready()) {
         accumulate();
     }
-    if (_count == 0) {
+    if (!_has_sample) {
         return;
     }
 
     float temperature = 0.1f * _temp;
-    float pressure = _press_sum / _count;
-
-    _count = 0;
-    _press_sum = 0;
 
+    float pressure = _pressure_filter.getf();
     _copy_to_frontend(_instance, pressure, temperature);
 }
 
@@ -219,13 +216,10 @@ void AP_Baro_BMP085::_calculate()
     x1 = (p >> 8) * (p >> 8);
     x1 = (x1 * 3038) >> 16;
     x2 = (-7357 * p) >> 16;
-    _press_sum += p + ((x1 + x2 + 3791) >> 4);
+    p += ((x1 + x2 + 3791) >> 4);
 
-    _count++;
-    if (_count == 254) {
-        _press_sum *= 0.5f;
-        _count /= 2;
-    }
+    _pressure_filter.apply(p);
+    _has_sample = true;
 }
 
 bool AP_Baro_BMP085::_data_ready()
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.h b/libraries/AP_Baro/AP_Baro_BMP085.h
index e080b99feb..7af4c4d017 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.h
+++ b/libraries/AP_Baro/AP_Baro_BMP085.h
@@ -4,6 +4,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
 #include <AP_HAL/utility/OwnPtr.h>
+#include <Filter/Filter.h>
 
 #include "AP_Baro_Backend.h"
 
@@ -28,7 +29,7 @@ private:
     AP_HAL::DigitalSource *_eoc;
 
     uint8_t _instance;
-    uint8_t _count;
+    bool _has_sample;
 
     // Boards with no EOC pin: use times instead
     uint32_t _last_press_read_command_time;
@@ -45,5 +46,5 @@ private:
     int32_t _raw_pressure;
     int32_t _raw_temp;
     int32_t _temp;
-    float _press_sum;
+    AverageIntegralFilter<int32_t, int32_t, 10> _pressure_filter;
 };