diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 07d7acaeb2..341f92f88e 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -160,11 +160,15 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
     AP_Compass_HIL          compass;
 #else
 
-    #if CONFIG_BARO == AP_BARO_BMP085
-	AP_Baro_BMP085 barometer;
-    #elif CONFIG_BARO == AP_BARO_MS5611
+#if CONFIG_BARO == AP_BARO_BMP085
+# if CONFIG_HARDWARE == CONFIG_HARDWARE_APM2
+	AP_Baro_BMP085 barometer(true);
+# else
+	AP_Baro_BMP085 barometer(false);
+# endif
+#elif CONFIG_BARO == AP_BARO_MS5611
     AP_Baro_MS5611 barometer;
-    #endif
+#endif
 
     AP_Compass_HMC5843      compass(Parameters::k_param_compass);
 #endif
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 92b1e54f7d..283b2db44b 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -250,16 +250,7 @@ static void init_ardupilot()
         adc.Init(&timer_scheduler);       // APM ADC library initialization
 #endif // CONFIG_ADC
 
-#if CONFIG_BARO == AP_BARO_MS5611
-        barometer.init();
-#elif CONFIG_BARO == AP_BARO_BMP085
-# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-        #warning bmp085 for apm2
-        barometer.init(1, true);
-# else
-        barometer.init(1, false);
-# endif // CONFIG_APM_HARDWARE
-#endif // CONFIG_BARO
+        barometer.init(&timer_scheduler);
 
 #endif // HIL_MODE