diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index cebbca023a..f7def2965b 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -387,6 +387,7 @@ void AP_Baro::init(void)
 
     case AP_BoardConfig::PX4_BOARD_PIXHAWK:
     case AP_BoardConfig::PX4_BOARD_PHMINI:
+    case AP_BoardConfig::PX4_BOARD_AUAV21:
     case AP_BoardConfig::PX4_BOARD_PH2SLIM:
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));