diff --git a/AntennaTracker/AntennaTracker.pde b/AntennaTracker/AntennaTracker.pde
index a79b0df0b6..4cf2c2b4b4 100644
--- a/AntennaTracker/AntennaTracker.pde
+++ b/AntennaTracker/AntennaTracker.pde
@@ -117,21 +117,7 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...);
 ////////////////////////////////////////////////////////////////////////////////
 static AP_GPS gps;
 
-#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;
 
 #if CONFIG_COMPASS == HAL_COMPASS_PX4
 static AP_Compass_PX4 compass;
diff --git a/AntennaTracker/sensors.pde b/AntennaTracker/sensors.pde
index 0f35b210a7..55bc647c27 100644
--- a/AntennaTracker/sensors.pde
+++ b/AntennaTracker/sensors.pde
@@ -10,7 +10,7 @@ static void init_barometer(void)
 // read the barometer and return the updated altitude in meters
 static void update_barometer(void)
 {
-    barometer.read();
+    barometer.update();
 }