diff --git a/error_sdr/error_sdr.h b/error_sdr/error_sdr.h
index 1fdb8b7..619e6b2 100644
--- a/error_sdr/error_sdr.h
+++ b/error_sdr/error_sdr.h
@@ -115,6 +115,7 @@ typedef enum _ERROR_CODE
     ERROR_LORA_CMD_ERROR               , /* Error with LoRa command           */
     ERROR_IMU_I2C_ERROR                , /* Error with IMU I2C handle         */
     ERROR_BARO_I2C_ERROR               , /* Error with Baro I2C handle        */
+    ERROR_BARO_INVALID_STATE_ERROR     , /* Invalid state reached with baro FSM */
     } ERROR_CODE;
 
 /* Error callback table entry */
diff --git a/sensor/sensor.c b/sensor/sensor.c
index 68a4d72..0b15bb5 100644
--- a/sensor/sensor.c
+++ b/sensor/sensor.c
@@ -235,7 +235,7 @@ sensor_data_ptr->gps_rmc_status		= gps_data.rmc_status;
 imu_status = get_imu_it( &imu_raw );
 
 /* Baro Read */
-baro_status = get_baro_it( &(sensor_data_ptr->baro_pressure), &(sensor_data_ptr->baro_temp) );
+baro_status = baro_get_IT( &(sensor_data_ptr->baro_pressure), &(sensor_data_ptr->baro_temp) );
 
 /*Compute State Estimations*/
 
@@ -588,7 +588,7 @@ if( start_imu_read_IT() != IMU_OK )
 	{
 	return SENSOR_IMU_FAIL;
 	}
-if( start_baro_read_IT() != BARO_OK )
+if( baro_start_read_IT() != BARO_OK )
 	{
 	return SENSOR_BARO_ERROR;
 	}
@@ -794,4 +794,4 @@ imu_data->imu_converted.mag_z = mag_z;
 
 /*******************************************************************************
 * END OF FILE                                                                  * 
-*******************************************************************************/
\ No newline at end of file
+*******************************************************************************/