diff --git a/flight/modules/StateEstimation/filterbaro.c b/flight/modules/StateEstimation/filterbaro.c
index fe276e468..739fa5d72 100644
--- a/flight/modules/StateEstimation/filterbaro.c
+++ b/flight/modules/StateEstimation/filterbaro.c
@@ -69,15 +69,8 @@ static int32_t init(stateFilter *self)
     this->baroOffset = 0.0f;
     this->first_run  = 100;
 
-    // Low pass filter configuration to calculate offset of barometric altitude sensor.
-    // Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
-    // Set BaroOffsetFilterTau = 0 to completely disable baro offset updates.
-    RevoSettingsData revoSettings;
     RevoSettingsInitialize();
-    RevoSettingsGet(&revoSettings);
-
-    this->baroGPSOffsetCorrectionAlpha = (revoSettings.BaroGPSOffsetCorrectionTau < 0.0001f) ?
-        1.0f : expf(-(1.0f / revoSettings.BaroGPSOffsetCorrectionFrequency) / revoSettings.BaroGPSOffsetCorrectionTau);
+    RevoSettingsBaroGPSOffsetCorrectionAlphaGet(&this->baroGPSOffsetCorrectionAlpha);
 
     return 0;
 }
diff --git a/shared/uavobjectdefinition/revosettings.xml b/shared/uavobjectdefinition/revosettings.xml
index 4480f0e56..0cf9a4561 100644
--- a/shared/uavobjectdefinition/revosettings.xml
+++ b/shared/uavobjectdefinition/revosettings.xml
@@ -2,8 +2,12 @@
     <object name="RevoSettings" singleinstance="true" settings="true" category="State">
         <description>Settings for the revo to control the algorithm and what is updated</description>
         <field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,INS13Indoor,INS13Outdoor" defaultvalue="Complementary"/>
-        <field name="BaroGPSOffsetCorrectionFrequency" units="Hz" type="float" elements="1" defaultvalue="5"/>
-        <field name="BaroGPSOffsetCorrectionTau" units="s" type="float" elements="1" defaultvalue="300"/>
+
+        <!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
+        Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
+        Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
+        <field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>
+
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>