diff --git a/flight/targets/boards/revonano/firmware/Makefile b/flight/targets/boards/revonano/firmware/Makefile
index 55ab23fe1..97efe7c91 100644
--- a/flight/targets/boards/revonano/firmware/Makefile
+++ b/flight/targets/boards/revonano/firmware/Makefile
@@ -29,7 +29,7 @@ USE_DSP_LIB ?= NO
 # List of mandatory modules to include
 MODULES += Sensors
 MODULES += StateEstimation
-MODULES += Altitude/revolution
+#MODULES += Altitude/revolution
 #MODULES += Airspeed
 
 MODULES += Stabilization
diff --git a/flight/targets/boards/revonano/firmware/inc/pios_config.h b/flight/targets/boards/revonano/firmware/inc/pios_config.h
index 86b48fed1..78159c211 100644
--- a/flight/targets/boards/revonano/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revonano/firmware/inc/pios_config.h
@@ -57,7 +57,7 @@
 #define PIOS_INCLUDE_TASK_MONITOR
 
 #define PIOS_INCLUDE_INSTRUMENTATION
-#define PIOS_INSTRUMENTATION_MAX_COUNTERS 10
+#define PIOS_INSTRUMENTATION_MAX_COUNTERS 40
 
 /* PIOS hardware peripherals */
 #define PIOS_INCLUDE_IRQ
diff --git a/flight/targets/boards/revonano/firmware/pios_board.c b/flight/targets/boards/revonano/firmware/pios_board.c
index 519328b5d..5a8d0381b 100644
--- a/flight/targets/boards/revonano/firmware/pios_board.c
+++ b/flight/targets/boards/revonano/firmware/pios_board.c
@@ -728,10 +728,6 @@ void PIOS_Board_Init(void)
     PIOS_ADC_Init(&pios_adc_cfg);
 #endif
 
-#if defined(PIOS_INCLUDE_MS5611)
-    PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
-#endif
-
 #if defined(PIOS_INCLUDE_MPU9250)
     PIOS_MPU9250_Init(pios_spi_gyro_id, 0, &pios_mpu9250_cfg);
     PIOS_MPU9250_CONFIG_Configure();
@@ -739,6 +735,11 @@ void PIOS_Board_Init(void)
     PIOS_MPU9250_MagRegister();
 #endif
 
+#if defined(PIOS_INCLUDE_MS5611)
+    PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
+    PIOS_MS5611_Register();
+#endif
+
 #ifdef PIOS_INCLUDE_WS2811
 #include <pios_ws2811.h>
     HwSettingsWS2811LED_OutOptions ws2811_pin_settings;