diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 891e7f6c6..7a1653c0e 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -50,7 +50,7 @@ ENABLE_AUX_UART ?= NO
 
 USE_GPS ?= YES
 
-USE_I2C ?= NO
+USE_I2C ?= YES
 
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= YES
@@ -65,7 +65,7 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-OPTMODULES = CameraStab ComUsbBridge
+OPTMODULES = CameraStab ComUsbBridge Altitude
 ifeq ($(USE_GPS), YES)
 OPTMODULES += GPS
 endif
@@ -182,6 +182,7 @@ SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
 SRC += $(OPUAVSYNTHDIR)/taskinfo.c
 SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
 SRC += $(OPUAVSYNTHDIR)/ratedesired.c
+SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
 
 endif
 
@@ -225,6 +226,7 @@ SRC += $(PIOSCOMMON)/pios_flash_w25x.c
 SRC += $(PIOSCOMMON)/pios_adxl345.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
+SRC += $(PIOSCOMMON)/pios_bmp085.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_rcvr.c
diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h
index 54c5b3b22..9be4387f0 100644
--- a/flight/CopterControl/System/inc/pios_config.h
+++ b/flight/CopterControl/System/inc/pios_config.h
@@ -76,6 +76,8 @@
 #define PIOS_INCLUDE_ADXL345
 #define PIOS_INCLUDE_FLASH
 
+#define PIOS_INCLUDE_BMP085
+
 /* A really shitty setting saving implementation */
 #define PIOS_INCLUDE_FLASH_SECTOR_SETTINGS
 
diff --git a/flight/CopterControl/System/pios_board.c b/flight/CopterControl/System/pios_board.c
index 4e0495776..a7197768d 100644
--- a/flight/CopterControl/System/pios_board.c
+++ b/flight/CopterControl/System/pios_board.c
@@ -1464,7 +1464,7 @@ void PIOS_Board_Init(void) {
 	case HWSETTINGS_CC_FLEXIPORT_I2C:
 #if defined(PIOS_INCLUDE_I2C)
 		{
-			if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
+			if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
 				PIOS_Assert(0);
 			}
 		}
diff --git a/flight/Modules/Altitude/altitude.c b/flight/Modules/Altitude/altitude.c
index 9c0d5399f..da90b7f7c 100644
--- a/flight/Modules/Altitude/altitude.c
+++ b/flight/Modules/Altitude/altitude.c
@@ -47,8 +47,7 @@
 // Private constants
 #define STACK_SIZE_BYTES 500
 #define TASK_PRIORITY (tskIDLE_PRIORITY+1)
-//#define UPDATE_PERIOD 100
-#define UPDATE_PERIOD 25
+#define UPDATE_PERIOD 50
 
 // Private types
 
diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
index e908345b7..7773b9092 100644
--- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
@@ -113,6 +113,12 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 extern uint32_t pios_i2c_flexi_adapter_id;
 #define PIOS_I2C_MAIN_ADAPTER			(pios_i2c_flexi_adapter_id)
 #define PIOS_I2C_ESC_ADAPTER			(pios_i2c_flexi_adapter_id)
+#define PIOS_I2C_BMP085_ADAPTER			(pios_i2c_flexi_adapter_id)
+
+//------------------------
+// PIOS_BMP085
+//------------------------
+#define PIOS_BMP085_OVERSAMPLING                3
 
 //-------------------------
 // SPI