diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 2ad6ad1ab8..2777f10857 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -172,6 +172,31 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
     AP_GROUPINFO("PROBE_EXT", 14, AP_Baro, _baro_probe_ext, HAL_BARO_PROBE_EXT_DEFAULT),
 #endif
 
+    // @Param: BARO_ID
+    // @DisplayName: Baro ID
+    // @Description: Barometer sensor ID, taking into account its type, bus and instance
+    // @ReadOnly: True
+    // @User: Advanced
+    AP_GROUPINFO("BARO_ID", 15, AP_Baro, sensors[0].bus_id, 0),
+
+#if BARO_MAX_INSTANCES > 1
+    // @Param: BARO2_ID
+    // @DisplayName: Baro ID2
+    // @Description: Barometer2 sensor ID, taking into account its type, bus and instance
+    // @ReadOnly: True
+    // @User: Advanced
+    AP_GROUPINFO("BARO2_ID", 16, AP_Baro, sensors[1].bus_id, 0),
+#endif
+
+#if BARO_MAX_INSTANCES > 2
+    // @Param: BARO3_ID
+    // @DisplayName: Baro ID3
+    // @Description: Barometer3 sensor ID, taking into account its type, bus and instance
+    // @ReadOnly: True
+    // @User: Advanced
+    AP_GROUPINFO("BARO3_ID", 17, AP_Baro, sensors[2].bus_id, 0),
+#endif
+    
     AP_GROUPEND
 };
 
@@ -474,6 +499,11 @@ void AP_Baro::init(void)
         _user_ground_temperature.notify();
     }
 
+    // zero bus IDs before probing
+    for (uint8_t i = 0; i < BARO_MAX_INSTANCES; i++) {
+        sensors[i].bus_id.set(0);
+    }
+
     if (_hil_mode) {
         drivers[0] = new AP_Baro_HIL(*this);
         _num_drivers = 1;
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index bf30d78968..2f694f107d 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -230,6 +230,7 @@ private:
         bool healthy;                   // true if sensor is healthy
         bool alt_ok;                    // true if calculated altitude is ok
         bool calibrated;                // true if calculated calibrated successfully
+        AP_Int32 bus_id;
     } sensors[BARO_MAX_INSTANCES];
 
     AP_Float                            _alt_offset;
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index f9eefa1c1d..b45c04cdf2 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -137,6 +137,9 @@ bool AP_Baro_BMP085::_init()
 
     _instance = _frontend.register_sensor();
 
+    _dev->set_device_type(DEVTYPE_BARO_BMP085);
+    set_bus_id(_instance, _dev->get_bus_id());
+    
     _dev->register_periodic_callback(20000, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP085::_timer, void));
     return true;
 }
diff --git a/libraries/AP_Baro/AP_Baro_BMP280.cpp b/libraries/AP_Baro/AP_Baro_BMP280.cpp
index f668e12e41..ff533f348a 100644
--- a/libraries/AP_Baro/AP_Baro_BMP280.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP280.cpp
@@ -115,6 +115,9 @@ bool AP_Baro_BMP280::_init()
 
     _instance = _frontend.register_sensor();
 
+    _dev->set_device_type(DEVTYPE_BARO_BMP280);
+    set_bus_id(_instance, _dev->get_bus_id());
+    
     // request 50Hz update
     _dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP280::_timer, void));
 
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.cpp b/libraries/AP_Baro/AP_Baro_BMP388.cpp
index ab2315bf0f..83942e07ea 100644
--- a/libraries/AP_Baro/AP_Baro_BMP388.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP388.cpp
@@ -108,6 +108,9 @@ bool AP_Baro_BMP388::init()
 
     instance = _frontend.register_sensor();
 
+    dev->set_device_type(DEVTYPE_BARO_BMP388);
+    set_bus_id(instance, dev->get_bus_id());
+
     // request 50Hz update
     dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_BMP388::timer, void));
 
diff --git a/libraries/AP_Baro/AP_Baro_Backend.h b/libraries/AP_Baro/AP_Baro_Backend.h
index 7ae28dc90d..c35c8757a9 100644
--- a/libraries/AP_Baro/AP_Baro_Backend.h
+++ b/libraries/AP_Baro/AP_Baro_Backend.h
@@ -23,6 +23,28 @@ public:
     // If the value further that filtrer_range from mean value, it is rejected.
     bool pressure_ok(float press);
     uint32_t get_error_count() const { return _error_count; }
+
+    /*
+      device driver IDs. These are used to fill in the devtype field
+      of the device ID, which shows up as GND_BARO_ID* parameters to
+      users.
+     */
+    enum DevTypes {
+        DEVTYPE_BARO_SITL     = 0x01,
+        DEVTYPE_BARO_BMP085   = 0x02,
+        DEVTYPE_BARO_BMP280   = 0x03,
+        DEVTYPE_BARO_BMP388   = 0x04,
+        DEVTYPE_BARO_DPS280   = 0x05,
+        DEVTYPE_BARO_DPS310   = 0x06,
+        DEVTYPE_BARO_FBM320   = 0x07,
+        DEVTYPE_BARO_ICM20789 = 0x08,
+        DEVTYPE_BARO_KELLERLD = 0x09,
+        DEVTYPE_BARO_LPS2XH   = 0x0A,
+        DEVTYPE_BARO_MS5611   = 0x0B,
+        DEVTYPE_BARO_SPL06    = 0x0C,
+        DEVTYPE_BARO_UAVCAN   = 0x0D,
+    };
+    
 protected:
     // reference to frontend object
     AP_Baro &_frontend;
@@ -38,4 +60,9 @@ protected:
     float _mean_pressure; 
     // number of dropped samples. Not used for now, but can be usable to choose more reliable sensor
     uint32_t _error_count;
+
+    // set bus ID of this instance, for GND_BARO_ID parameters
+    void set_bus_id(uint8_t instance, uint32_t id) {
+        _frontend.sensors[instance].bus_id.set(int32_t(id));
+    }
 };
diff --git a/libraries/AP_Baro/AP_Baro_DPS280.cpp b/libraries/AP_Baro/AP_Baro_DPS280.cpp
index af7151a702..8af43081f2 100644
--- a/libraries/AP_Baro/AP_Baro_DPS280.cpp
+++ b/libraries/AP_Baro/AP_Baro_DPS280.cpp
@@ -163,6 +163,9 @@ bool AP_Baro_DPS280::init()
 
     instance = _frontend.register_sensor();
 
+    dev->set_device_type(DEVTYPE_BARO_DPS280);
+    set_bus_id(instance, dev->get_bus_id());
+    
     dev->get_semaphore()->give();
 
     // request 64Hz update. New data will be available at 32Hz
diff --git a/libraries/AP_Baro/AP_Baro_FBM320.cpp b/libraries/AP_Baro/AP_Baro_FBM320.cpp
index 2b20073a29..33fee17a14 100644
--- a/libraries/AP_Baro/AP_Baro_FBM320.cpp
+++ b/libraries/AP_Baro/AP_Baro_FBM320.cpp
@@ -125,6 +125,9 @@ bool AP_Baro_FBM320::init()
 
     instance = _frontend.register_sensor();
 
+    dev->set_device_type(DEVTYPE_BARO_FBM320);
+    set_bus_id(instance, dev->get_bus_id());
+    
     dev->get_semaphore()->give();
 
     // request 50Hz update
diff --git a/libraries/AP_Baro/AP_Baro_ICM20789.cpp b/libraries/AP_Baro/AP_Baro_ICM20789.cpp
index b772b3000b..740952929c 100644
--- a/libraries/AP_Baro/AP_Baro_ICM20789.cpp
+++ b/libraries/AP_Baro/AP_Baro_ICM20789.cpp
@@ -206,6 +206,9 @@ bool AP_Baro_ICM20789::init()
 
     instance = _frontend.register_sensor();
 
+    dev->set_device_type(DEVTYPE_BARO_ICM20789);
+    set_bus_id(instance, dev->get_bus_id());
+    
     dev->get_semaphore()->give();
 
     debug("ICM20789: startup OK\n");
diff --git a/libraries/AP_Baro/AP_Baro_KellerLD.cpp b/libraries/AP_Baro/AP_Baro_KellerLD.cpp
index 3baed90b9d..3bf23ec012 100644
--- a/libraries/AP_Baro/AP_Baro_KellerLD.cpp
+++ b/libraries/AP_Baro/AP_Baro_KellerLD.cpp
@@ -142,6 +142,9 @@ bool AP_Baro_KellerLD::_init()
 
     _instance = _frontend.register_sensor();
 
+    _dev->set_device_type(DEVTYPE_BARO_KELLERLD);
+    set_bus_id(_instance, _dev->get_bus_id());
+    
     _frontend.set_type(_instance, AP_Baro::BARO_TYPE_WATER);
 
     // lower retries for run
diff --git a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
index 6a3f558e97..f43b51eea6 100644
--- a/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
+++ b/libraries/AP_Baro/AP_Baro_LPS2XH.cpp
@@ -179,6 +179,9 @@ bool AP_Baro_LPS2XH::_init()
 
     _instance = _frontend.register_sensor();
 
+    _dev->set_device_type(DEVTYPE_BARO_LPS2XH);
+    set_bus_id(_instance, _dev->get_bus_id());
+    
     _dev->get_semaphore()->give();
 
     _dev->register_periodic_callback(CallTime, FUNCTOR_BIND_MEMBER(&AP_Baro_LPS2XH::_timer, void));
diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp
index 172fdde8f3..a659c85e61 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.cpp
+++ b/libraries/AP_Baro/AP_Baro_MS5611.cpp
@@ -134,6 +134,9 @@ bool AP_Baro_MS56XX::_init()
 
     _instance = _frontend.register_sensor();
 
+    _dev->set_device_type(DEVTYPE_BARO_MS5611);
+    set_bus_id(_instance, _dev->get_bus_id());
+
     if (_ms56xx_type == BARO_MS5837) {
         _frontend.set_type(_instance, AP_Baro::BARO_TYPE_WATER);
     }
diff --git a/libraries/AP_Baro/AP_Baro_SITL.cpp b/libraries/AP_Baro/AP_Baro_SITL.cpp
index f8bc510261..ba43a3694e 100644
--- a/libraries/AP_Baro/AP_Baro_SITL.cpp
+++ b/libraries/AP_Baro/AP_Baro_SITL.cpp
@@ -20,6 +20,7 @@ AP_Baro_SITL::AP_Baro_SITL(AP_Baro &baro) :
 #if APM_BUILD_TYPE(APM_BUILD_ArduSub)
         _frontend.set_type(_instance, AP_Baro::BARO_TYPE_WATER);
 #endif
+        set_bus_id(_instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SITL, 0, _instance, DEVTYPE_BARO_SITL));
         hal.scheduler->register_timer_process(FUNCTOR_BIND(this, &AP_Baro_SITL::_timer, void));
     }
 }
diff --git a/libraries/AP_Baro/AP_Baro_SPL06.cpp b/libraries/AP_Baro/AP_Baro_SPL06.cpp
index b71f397979..f0c3573feb 100644
--- a/libraries/AP_Baro/AP_Baro_SPL06.cpp
+++ b/libraries/AP_Baro/AP_Baro_SPL06.cpp
@@ -140,6 +140,9 @@ bool AP_Baro_SPL06::_init()
 
     _instance = _frontend.register_sensor();
 
+    _dev->set_device_type(DEVTYPE_BARO_SPL06);
+    set_bus_id(_instance, _dev->get_bus_id());
+    
     // request 50Hz update
     _timer_counter = -1;
     _dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void));
diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
index 966ffab44d..6d02ce0f23 100644
--- a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
+++ b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
@@ -75,7 +75,12 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
                 backend->_pressure_count = 0;
                 backend->_ap_uavcan = _detected_modules[i].ap_uavcan;
                 backend->_node_id = _detected_modules[i].node_id;
-                backend->register_sensor();
+
+                backend->_instance = backend->_frontend.register_sensor();
+                backend->set_bus_id(backend->_instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
+                                                                                    _detected_modules[i].ap_uavcan->get_driver_index(),
+                                                                                    backend->_node_id, 0));
+
                 debug_baro_uavcan(2,
                                   _detected_modules[i].ap_uavcan->get_driver_index(),
                                   "Registered UAVCAN Baro Node %d on Bus %d\n",
diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.h b/libraries/AP_Baro/AP_Baro_UAVCAN.h
index edc537b6c7..5b368f4585 100644
--- a/libraries/AP_Baro/AP_Baro_UAVCAN.h
+++ b/libraries/AP_Baro/AP_Baro_UAVCAN.h
@@ -13,10 +13,6 @@ public:
 
     void update() override;
 
-    inline void register_sensor() {
-        _instance = _frontend.register_sensor();
-    }
-
     static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
     static AP_Baro_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, bool create_new);
     static AP_Baro_Backend* probe(AP_Baro &baro);