diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 05d0bb31d3..d8393bb59a 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -64,6 +64,10 @@
  #define HAL_BARO_PROBE_EXT_DEFAULT 0
 #endif
 
+#ifdef HAL_BUILD_AP_PERIPH
+#define HAL_BARO_ALLOW_INIT_NO_BARO
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 // table of user settable parameters
@@ -607,6 +611,14 @@ void AP_Baro::init(void)
         AP_BoardConfig::config_error("Baro: unable to initialise driver");
     }
 #endif
+#ifdef HAL_BUILD_AP_PERIPH
+    // AP_Periph always is set calibrated. We only want the pressure,
+    // so ground calibration is unnecessary
+    for (uint8_t i=0; i<_num_sensors; i++) {
+        sensors[i].calibrated = true;
+        sensors[i].alt_ok = true;
+    }
+#endif
 }
 
 /*