diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index d078079e20..d2492599e3 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -33,6 +33,7 @@
 #include "AP_Baro_SITL.h"
 #include "AP_Baro_BMP085.h"
 #include "AP_Baro_BMP280.h"
+#include "AP_Baro_SPL06.h"
 #include "AP_Baro_HIL.h"
 #include "AP_Baro_KellerLD.h"
 #include "AP_Baro_MS5611.h"
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index fd3cda7e01..47a767b216 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -215,6 +215,7 @@ private:
         PROBE_KELLER=(1<<8),
         PROBE_MS5837=(1<<9),
         PROBE_BMP388=(1<<10),
+        PROBE_SPL06=(1<<11),
     };
     
     struct sensor {
diff --git a/libraries/AP_Baro/AP_Baro_BMP280.cpp b/libraries/AP_Baro/AP_Baro_BMP280.cpp
index f2831bdbb8..f668e12e41 100644
--- a/libraries/AP_Baro/AP_Baro_BMP280.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP280.cpp
@@ -34,6 +34,7 @@ extern const AP_HAL::HAL &hal;
 #define BMP280_FILTER_COEFFICIENT 2
 
 #define BMP280_ID            0x58
+#define BME280_ID            0x60
 
 #define BMP280_REG_CALIB     0x88
 #define BMP280_REG_ID        0xD0
@@ -77,8 +78,8 @@ bool AP_Baro_BMP280::_init()
 
     uint8_t whoami;
     if (!_dev->read_registers(BMP280_REG_ID, &whoami, 1)  ||
-        whoami != BMP280_ID) {
-        // not a BMP280
+        (whoami != BME280_ID && whoami != BMP280_ID)) {
+        // not a BMP280 or BME280
         return false;
     }
 
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.cpp b/libraries/AP_Baro/AP_Baro_BMP388.cpp
index b32ab9329c..ab2315bf0f 100644
--- a/libraries/AP_Baro/AP_Baro_BMP388.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP388.cpp
@@ -89,15 +89,15 @@ bool AP_Baro_BMP388::init()
     dev->write_register(BMP388_REG_PWR_CTRL, 0x33, true);
     
     uint8_t whoami;
-    if (!dev->read_registers(BMP388_REG_ID, &whoami, 1)  ||
+    if (!read_registers(BMP388_REG_ID, &whoami, 1)  ||
         whoami != BMP388_ID) {
         // not a BMP388
         return false;
     }
 
     // read the calibration data
-    dev->read_registers(BMP388_REG_CAL_P, (uint8_t *)&calib_p, sizeof(calib_p));
-    dev->read_registers(BMP388_REG_CAL_T, (uint8_t *)&calib_t, sizeof(calib_t));
+    read_registers(BMP388_REG_CAL_P, (uint8_t *)&calib_p, sizeof(calib_p));
+    read_registers(BMP388_REG_CAL_T, (uint8_t *)&calib_t, sizeof(calib_t));
 
     scale_calibration_data();
 
@@ -121,7 +121,7 @@ void AP_Baro_BMP388::timer(void)
 {
     uint8_t buf[7];
 
-    if (!dev->read_registers(BMP388_REG_STATUS, buf, sizeof(buf))) {
+    if (!read_registers(BMP388_REG_STATUS, buf, sizeof(buf))) {
         return;
     }
     const uint8_t status = buf[0];
@@ -212,3 +212,24 @@ void AP_Baro_BMP388::update_pressure(uint32_t data)
     pressure = press;
     has_sample = true;
 }
+
+/*
+  read registers, special SPI handling needed
+*/
+bool AP_Baro_BMP388::read_registers(uint8_t reg, uint8_t *data, uint8_t len)
+{
+    // when on I2C we just read normally
+    if (dev->bus_type() != AP_HAL::Device::BUS_TYPE_SPI) {
+        return dev->read_registers(reg, data, len);
+    }
+    // for SPI we need to discard the first returned byte. See
+    // datasheet for explanation
+    uint8_t b[len+2];
+    b[0] = reg | 0x80;
+    memset(&b[1], 0, len+1);
+    if (!dev->transfer(b, len+2, b, len+2)) {
+        return false;
+    }
+    memcpy(data, &b[2], len);
+    return true;
+}
diff --git a/libraries/AP_Baro/AP_Baro_BMP388.h b/libraries/AP_Baro/AP_Baro_BMP388.h
index edba1d5b52..ccb24c14d1 100644
--- a/libraries/AP_Baro/AP_Baro_BMP388.h
+++ b/libraries/AP_Baro/AP_Baro_BMP388.h
@@ -78,4 +78,5 @@ private:
     } calib;
 
     void scale_calibration_data(void);
+    bool read_registers(uint8_t reg, uint8_t *data, uint8_t len);
 };
diff --git a/libraries/AP_Baro/AP_Baro_DPS280.cpp b/libraries/AP_Baro/AP_Baro_DPS280.cpp
index 0a1792f4b4..af7151a702 100644
--- a/libraries/AP_Baro/AP_Baro_DPS280.cpp
+++ b/libraries/AP_Baro/AP_Baro_DPS280.cpp
@@ -131,11 +131,16 @@ void AP_Baro_DPS280::set_config_registers(void)
 
 bool AP_Baro_DPS280::init()
 {
-    if (!dev || !dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
+    if (!dev) {
         return false;
     }
+    dev->get_semaphore()->take_blocking();
+
+    // setup to allow reads on SPI
+    if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
+        dev->set_read_flag(0x80);
+    }
 
-    dev->set_read_flag(0x80);
     dev->set_speed(AP_HAL::Device::SPEED_HIGH);
 
     uint8_t whoami=0;
diff --git a/libraries/AP_Baro/AP_Baro_SPL06.cpp b/libraries/AP_Baro/AP_Baro_SPL06.cpp
new file mode 100644
index 0000000000..b71f397979
--- /dev/null
+++ b/libraries/AP_Baro/AP_Baro_SPL06.cpp
@@ -0,0 +1,234 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "AP_Baro_SPL06.h"
+
+#include <utility>
+
+extern const AP_HAL::HAL &hal;
+
+#define SPL06_CHIP_ID                          0x10
+
+#define SPL06_REG_PRESSURE_B2                  0x00    // Pressure MSB Register
+#define SPL06_REG_PRESSURE_B1                  0x01    // Pressure middle byte Register
+#define SPL06_REG_PRESSURE_B0                  0x02    // Pressure LSB Register
+#define SPL06_REG_PRESSURE_START               SPL06_REG_PRESSURE_B2
+#define SPL06_PRESSURE_LEN                     3       // 24 bits, 3 bytes
+#define SPL06_REG_TEMPERATURE_B2               0x03    // Temperature MSB Register
+#define SPL06_REG_TEMPERATURE_B1               0x04    // Temperature middle byte Register
+#define SPL06_REG_TEMPERATURE_B0               0x05    // Temperature LSB Register
+#define SPL06_REG_TEMPERATURE_START            SPL06_REG_TEMPERATURE_B2
+#define SPL06_TEMPERATURE_LEN                  3       // 24 bits, 3 bytes
+#define SPL06_REG_PRESSURE_CFG                 0x06    // Pressure config
+#define SPL06_REG_TEMPERATURE_CFG              0x07    // Temperature config
+#define SPL06_REG_MODE_AND_STATUS              0x08    // Mode and status
+#define SPL06_REG_INT_AND_FIFO_CFG             0x09    // Interrupt and FIFO config
+#define SPL06_REG_INT_STATUS                   0x0A    // Interrupt and FIFO config
+#define SPL06_REG_FIFO_STATUS                  0x0B    // Interrupt and FIFO config
+#define SPL06_REG_RST                          0x0C    // Softreset Register
+#define SPL06_REG_CHIP_ID                      0x0D    // Chip ID Register
+#define SPL06_REG_CALIB_COEFFS_START           0x10
+#define SPL06_REG_CALIB_COEFFS_END             0x21
+
+#define SPL06_CALIB_COEFFS_LEN                 (SPL06_REG_CALIB_COEFFS_END - SPL06_REG_CALIB_COEFFS_START + 1)
+
+// TEMPERATURE_CFG_REG
+#define SPL06_TEMP_USE_EXT_SENSOR              (1<<7)
+
+// MODE_AND_STATUS_REG
+#define SPL06_MEAS_PRESSURE                    (1<<0)  // measure pressure
+#define SPL06_MEAS_TEMPERATURE                 (1<<1)  // measure temperature
+
+#define SPL06_MEAS_CFG_CONTINUOUS              (1<<2)
+#define SPL06_MEAS_CFG_PRESSURE_RDY            (1<<4)
+#define SPL06_MEAS_CFG_TEMPERATURE_RDY         (1<<5)
+#define SPL06_MEAS_CFG_SENSOR_RDY              (1<<6)
+#define SPL06_MEAS_CFG_COEFFS_RDY              (1<<7)
+
+// INT_AND_FIFO_CFG_REG
+#define SPL06_PRESSURE_RESULT_BIT_SHIFT        (1<<2)  // necessary for pressure oversampling > 8
+#define SPL06_TEMPERATURE_RESULT_BIT_SHIFT     (1<<3)  // necessary for temperature oversampling > 8
+
+// Don't set oversampling higher than 8 or the measurement time will be higher than 20ms (timer period)
+#define SPL06_PRESSURE_OVERSAMPLING            8
+#define SPL06_TEMPERATURE_OVERSAMPLING         8
+
+#define SPL06_OVERSAMPLING_TO_REG_VALUE(n)     (ffs(n)-1)
+
+AP_Baro_SPL06::AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev)
+    : AP_Baro_Backend(baro)
+    , _dev(std::move(dev))
+{
+}
+
+AP_Baro_Backend *AP_Baro_SPL06::probe(AP_Baro &baro,
+                                       AP_HAL::OwnPtr<AP_HAL::Device> dev)
+{
+    if (!dev) {
+        return nullptr;
+    }
+
+    if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
+        dev->set_read_flag(0x80);
+    }
+
+    AP_Baro_SPL06 *sensor = new AP_Baro_SPL06(baro, std::move(dev));
+    if (!sensor || !sensor->_init()) {
+        delete sensor;
+        return nullptr;
+    }
+    return sensor;
+}
+
+bool AP_Baro_SPL06::_init()
+{
+    if (!_dev) {
+        return false;
+    }
+    WITH_SEMAPHORE(_dev->get_semaphore());
+
+    _has_sample = false;
+
+    _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
+
+    uint8_t whoami;
+    if (!_dev->read_registers(SPL06_REG_CHIP_ID, &whoami, 1)  ||
+        whoami != SPL06_CHIP_ID) {
+        // not a SPL06
+        return false;
+    }
+
+    // read the calibration data
+    uint8_t buf[SPL06_CALIB_COEFFS_LEN];
+    _dev->read_registers(SPL06_REG_CALIB_COEFFS_START, buf, sizeof(buf));
+
+    _c0 = (buf[0] & 0x80 ? 0xF000 : 0) | ((uint16_t)buf[0] << 4) | (((uint16_t)buf[1] & 0xF0) >> 4);
+    _c1 = ((buf[1] & 0x8 ? 0xF000 : 0) | ((uint16_t)buf[1] & 0x0F) << 8) | (uint16_t)buf[2];
+    _c00 = (buf[3] & 0x80 ? 0xFFF00000 : 0) | ((uint32_t)buf[3] << 12) | ((uint32_t)buf[4] << 4) | (((uint32_t)buf[5] & 0xF0) >> 4);
+    _c10 = (buf[5] & 0x8 ? 0xFFF00000 : 0) | (((uint32_t)buf[5] & 0x0F) << 16) | ((uint32_t)buf[6] << 8) | (uint32_t)buf[7];
+    _c01 = ((uint16_t)buf[8] << 8) | ((uint16_t)buf[9]);
+    _c11 = ((uint16_t)buf[10] << 8) | (uint16_t)buf[11];
+    _c20 = ((uint16_t)buf[12] << 8) | (uint16_t)buf[13];
+    _c21 = ((uint16_t)buf[14] << 8) | (uint16_t)buf[15];
+    _c30 = ((uint16_t)buf[16] << 8) | (uint16_t)buf[17];
+
+    // setup temperature and pressure measurements
+    _dev->setup_checked_registers(3, 20);
+
+    _dev->write_register(SPL06_REG_TEMPERATURE_CFG, SPL06_TEMP_USE_EXT_SENSOR | SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_TEMPERATURE_OVERSAMPLING), true);
+    _dev->write_register(SPL06_REG_PRESSURE_CFG, SPL06_OVERSAMPLING_TO_REG_VALUE(SPL06_PRESSURE_OVERSAMPLING), true);
+
+    uint8_t int_and_fifo_reg_value = 0;
+    if (SPL06_TEMPERATURE_OVERSAMPLING > 8) {
+        int_and_fifo_reg_value |= SPL06_TEMPERATURE_RESULT_BIT_SHIFT;
+    }
+    if (SPL06_PRESSURE_OVERSAMPLING > 8) {
+        int_and_fifo_reg_value |= SPL06_PRESSURE_RESULT_BIT_SHIFT;
+    }
+    _dev->write_register(SPL06_REG_INT_AND_FIFO_CFG, int_and_fifo_reg_value, true);
+
+    _instance = _frontend.register_sensor();
+
+    // request 50Hz update
+    _timer_counter = -1;
+    _dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_Baro_SPL06::_timer, void));
+
+    return true;
+}
+
+int32_t AP_Baro_SPL06::raw_value_scale_factor(uint8_t oversampling)
+{
+    // From the datasheet page 13
+    switch(oversampling)
+    {
+        case 1: return 524288;
+        case 2: return 1572864;
+        case 4: return 3670016;
+        case 8: return 7864320;
+        case 16: return 253952;
+        case 32: return 516096;
+        case 64: return 1040384;
+        case 128: return 2088960;
+        default: return -1; // invalid
+    }
+}
+
+// acumulate a new sensor reading
+void AP_Baro_SPL06::_timer(void)
+{
+    uint8_t buf[3];
+
+    if ((_timer_counter == -1) || (_timer_counter == 49)) {
+        // First call and every second start a temperature measurement (50Hz call)
+        _dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_TEMPERATURE, false);
+        _timer_counter = 0; // Next cycle we are reading the temperature
+    } else if (_timer_counter == 0) {
+        // A temperature measurement had been started during the previous call
+        _dev->read_registers(SPL06_REG_TEMPERATURE_START, buf, sizeof(buf));
+        _update_temperature((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2]));
+        _dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false);
+        _timer_counter += 1;
+    } else {
+        // The rest of the time read the latest pressure and start a new measurement
+        _dev->read_registers(SPL06_REG_PRESSURE_START, buf, sizeof(buf));
+        _update_pressure((int32_t)((buf[0] & 0x80 ? 0xFF000000 : 0) | ((uint32_t)buf[0] << 16) | ((uint32_t)buf[1] << 8) | buf[2]));
+        _dev->write_register(SPL06_REG_MODE_AND_STATUS, SPL06_MEAS_PRESSURE, false);
+        _timer_counter += 1;
+    }
+
+    _dev->check_next_register();
+}
+
+// transfer data to the frontend
+void AP_Baro_SPL06::update(void)
+{
+    WITH_SEMAPHORE(_sem);
+
+    if (!_has_sample) {
+        return;
+    }
+
+    _copy_to_frontend(_instance, _pressure, _temperature);
+    _has_sample = false;
+}
+
+// calculate temperature
+void AP_Baro_SPL06::_update_temperature(int32_t temp_raw)
+{
+    _temp_raw = (float)temp_raw / raw_value_scale_factor(SPL06_TEMPERATURE_OVERSAMPLING);
+    const float temp_comp = (float)_c0 / 2 + _temp_raw * _c1;
+
+    WITH_SEMAPHORE(_sem);
+
+    _temperature = temp_comp;
+}
+
+// calculate pressure
+void AP_Baro_SPL06::_update_pressure(int32_t press_raw)
+{
+    const float press_raw_sc = (float)press_raw / raw_value_scale_factor(SPL06_PRESSURE_OVERSAMPLING);
+    const float pressure_cal = (float)_c00 + press_raw_sc * ((float)_c10 + press_raw_sc * ((float)_c20 + press_raw_sc * _c30));
+    const float press_temp_comp = _temp_raw * ((float)_c01 + press_raw_sc * ((float)_c11 + press_raw_sc * _c21));
+
+    const float press_comp = pressure_cal + press_temp_comp;
+
+    if (!pressure_ok(press_comp)) {
+        return;
+    }
+
+    WITH_SEMAPHORE(_sem);
+
+    _pressure = press_comp;
+    _has_sample = true;
+}
diff --git a/libraries/AP_Baro/AP_Baro_SPL06.h b/libraries/AP_Baro/AP_Baro_SPL06.h
new file mode 100644
index 0000000000..0ab62c2d13
--- /dev/null
+++ b/libraries/AP_Baro/AP_Baro_SPL06.h
@@ -0,0 +1,47 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/Device.h>
+#include <AP_HAL/utility/OwnPtr.h>
+
+#include "AP_Baro_Backend.h"
+
+#ifndef HAL_BARO_SPL06_I2C_ADDR
+ #define HAL_BARO_SPL06_I2C_ADDR  (0x76)
+#endif
+#ifndef HAL_BARO_SPL06_I2C_ADDR2
+ #define HAL_BARO_SPL06_I2C_ADDR2 (0x77)
+#endif
+
+class AP_Baro_SPL06 : public AP_Baro_Backend
+{
+public:
+    AP_Baro_SPL06(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
+
+    /* AP_Baro public interface: */
+    void update() override;
+
+    static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
+
+private:
+
+    bool _init(void);
+    void _timer(void);
+    void _update_temperature(int32_t);
+    void _update_pressure(int32_t);
+
+    int32_t raw_value_scale_factor(uint8_t);
+
+    AP_HAL::OwnPtr<AP_HAL::Device> _dev;
+
+    int8_t _timer_counter;
+    bool _has_sample;
+    uint8_t _instance;
+    float _temp_raw;
+    float _pressure;
+    float _temperature;
+
+    // Internal calibration registers
+    int32_t _c00, _c10;
+    int16_t _c0, _c1, _c01, _c11, _c20, _c21, _c30;
+};