diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index 2aa4361a1c..871ab3a8bc 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -2,10 +2,13 @@
 #ifndef __AP_BARO_H__
 #define __AP_BARO_H__
 
+#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
+
 class AP_Baro
 {
     public:
     AP_Baro() {}
+    virtual void    init(AP_PeriodicProcess *scheduler)=0;
     virtual uint8_t read() = 0;
     virtual int32_t get_pressure() = 0;
     virtual int16_t get_temperature() = 0;
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index 690f121a5f..60480ec82e 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -55,7 +55,7 @@ extern "C" {
 
 
 // Public Methods //////////////////////////////////////////////////////////////
-bool AP_Baro_BMP085::init(int initialiseWireLib, bool apm2_hardware)
+void AP_Baro_BMP085::init( AP_PeriodicProcess * scheduler )
 {
 	byte buff[22];
 	int i = 0;
@@ -69,7 +69,8 @@ bool AP_Baro_BMP085::init(int initialiseWireLib, bool apm2_hardware)
 	Wire.beginTransmission(BMP085_ADDRESS);
 	Wire.send(0xAA);
 	if (Wire.endTransmission() != 0) {
-		return false;
+        // Error!
+		return;
 	}
 
 	Wire.requestFrom(BMP085_ADDRESS, 22);
@@ -80,7 +81,8 @@ bool AP_Baro_BMP085::init(int initialiseWireLib, bool apm2_hardware)
 		i++;
 	}
 	if (i != 22) {
-		return false;
+        // Error!
+		return;
 	}
 
 	ac1 = ((int)buff[0] << 8) | buff[1];
@@ -98,7 +100,7 @@ bool AP_Baro_BMP085::init(int initialiseWireLib, bool apm2_hardware)
   //Send a command to read Temp
 	Command_ReadTemp();
 	BMP085_State = 1;
-	return true;
+	return;
 }
 
 // Read the sensor. This is a state machine
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.h b/libraries/AP_Baro/AP_Baro_BMP085.h
index 4cd8916d5b..f894ab4395 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.h
+++ b/libraries/AP_Baro/AP_Baro_BMP085.h
@@ -16,6 +16,7 @@ class AP_Baro_BMP085 : public AP_Baro
 
 
     /* AP_Baro public interface: */
+    void    init(AP_PeriodicProcess * scheduler);
     uint8_t read();
     int32_t get_pressure();
     int16_t get_temperature();
diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp
index 89b47e417d..bea1b83046 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.cpp
+++ b/libraries/AP_Baro/AP_Baro_MS5611.cpp
@@ -113,7 +113,7 @@ uint8_t AP_Baro_MS5611::MS5611_Ready()
 
 // Public Methods //////////////////////////////////////////////////////////////
 // SPI should be initialized externally
-void AP_Baro_MS5611::init()
+void AP_Baro_MS5611::init( AP_PeriodicProcess *scheduler )
 {
 	pinMode(MS5611_CS, OUTPUT);	 // Chip select Pin
     digitalWrite(MS5611_CS, HIGH);