diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
index 07712923cd..0e04ba2fe6 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
@@ -12,6 +12,7 @@
 #include <AP_InertialSensor.h>
 #include <AP_ADC.h>
 #include <AP_ADC_AnalogSource.h>
+#include <AP_Baro.h>            // ArduPilot Mega Barometer Library
 #include <AP_GPS.h>
 #include <AP_AHRS.h>
 #include <AP_Compass.h>
@@ -32,11 +33,14 @@
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
+// INS and Baro declaration
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 AP_InertialSensor_MPU6000 ins;
+AP_Baro_MS5611 baro(&AP_Baro_MS5611::spi);
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 adc;
 AP_InertialSensor_Oilpan ins( &adc );
+AP_Baro_BMP085 baro;
 #else
 AP_InertialSensor_HIL ins;
 #endif
@@ -48,7 +52,7 @@ GPS *g_gps;
 AP_GPS_Auto g_gps_driver(&g_gps);
 
 // choose which AHRS system to use
-AP_AHRS_DCM  ahrs(ins, g_gps);
+AP_AHRS_DCM  ahrs(ins, baro, g_gps);
 
 AP_Baro_HIL barometer;