diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 9a5226a16d..14a47404e5 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -259,21 +259,8 @@ static GPS_Glitch gps_glitch(gps);
 // flight modes convenience array
 static AP_Int8 *flight_modes = &g.flight_mode1;
 
-#if CONFIG_BARO == HAL_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == HAL_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == HAL_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == HAL_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == HAL_BARO_MS5611
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-#else
- #error Unrecognized CONFIG_BARO setting
-#endif
+static AP_Baro barometer;
+
 static Baro_Glitch baro_glitch(barometer);
 
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 3a88aed867..8ec3998855 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -16,7 +16,7 @@ static void init_barometer(bool full_calibration)
 // return barometric altitude in centimeters
 static void read_barometer(void)
 {
-    barometer.read();
+    barometer.update();
     if (should_log(MASK_LOG_IMU)) {
         Log_Write_Baro();
     }