diff --git a/src/main/drivers/barometer_ms5611.c b/src/main/drivers/barometer_ms5611.c
index 7ff5b3f0f3..897983db75 100644
--- a/src/main/drivers/barometer_ms5611.c
+++ b/src/main/drivers/barometer_ms5611.c
@@ -26,6 +26,8 @@
 #include "system.h"
 #include "bus_i2c.h"
 
+#include "build_config.h"
+
 // MS5611, Standard address 0x77
 #define MS5611_ADDR                 0x77
 
@@ -44,7 +46,7 @@
 
 static void ms5611_reset(void);
 static uint16_t ms5611_prom(int8_t coef_num);
-static int8_t ms5611_crc(uint16_t *prom);
+STATIC_UNIT_TESTED int8_t ms5611_crc(uint16_t *prom);
 static uint32_t ms5611_read_adc(void);
 static void ms5611_start_ut(void);
 static void ms5611_get_ut(void);
@@ -102,7 +104,7 @@ static uint16_t ms5611_prom(int8_t coef_num)
     return rxbuf[0] << 8 | rxbuf[1];
 }
 
-static int8_t ms5611_crc(uint16_t *prom)
+STATIC_UNIT_TESTED int8_t ms5611_crc(uint16_t *prom)
 {
     int32_t i, j;
     uint32_t res = 0;
diff --git a/src/test/Makefile b/src/test/Makefile
index f46dc69fc6..b573acf77e 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -58,7 +58,8 @@ TESTS = \
 	ws2811_unittest \
 	encoding_unittest \
 	io_serial_unittest \
-	lowpass_unittest
+	lowpass_unittest \
+    baro_unittest
 
 # All Google Test headers.  Usually you shouldn't change this
 # definition.
@@ -463,6 +464,29 @@ rx_rx_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
+$(OBJECT_DIR)/drivers/barometer_ms5611.o : \
+    $(USER_DIR)/drivers/barometer_ms5611.c \
+    $(USER_DIR)/drivers/barometer_ms5611.h \
+    $(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/drivers/barometer_ms5611.c -o $@
+
+$(OBJECT_DIR)/baro_unittest.o : \
+	$(TEST_DIR)/baro_unittest.cc \
+	$(USER_DIR)/drivers/barometer_ms5611.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/baro_unittest.cc -o $@
+
+baro_unittest : \
+	$(OBJECT_DIR)/drivers/barometer_ms5611.o \
+	$(OBJECT_DIR)/baro_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
 test: $(TESTS)
 	set -e && for test in $(TESTS) ; do \
 		$(OBJECT_DIR)/$$test; \
diff --git a/src/test/unit/baro_unittest.cc b/src/test/unit/baro_unittest.cc
new file mode 100644
index 0000000000..b84052c271
--- /dev/null
+++ b/src/test/unit/baro_unittest.cc
@@ -0,0 +1,99 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdint.h>
+
+extern "C" {
+
+int8_t ms5611_crc(uint16_t *prom);
+
+}
+
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+
+
+TEST(baroTest, TestValidMs5611Crc)
+{
+
+    // given
+    uint16_t ms5611_prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x450B};
+
+    // when
+    int8_t result = ms5611_crc(ms5611_prom);
+
+    // then
+    EXPECT_EQ(0, result);
+
+}
+
+TEST(baroTest, TestInvalidMs5611Crc)
+{
+
+    // given
+    uint16_t ms5611_prom[] = {0x3132,0x3334,0x3536,0x3738,0x3940,0x4142,0x4344,0x4500};
+
+    // when
+    int8_t result = ms5611_crc(ms5611_prom);
+
+    // then
+    EXPECT_EQ(-1, result);
+
+}
+
+TEST(baroTest, TestMs5611AllZeroProm)
+{
+
+    // given
+    uint16_t ms5611_prom[] = {0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000};
+
+    // when
+    int8_t result = ms5611_crc(ms5611_prom);
+
+    // then
+    EXPECT_EQ(-1, result);
+
+}
+
+TEST(baroTest, TestMs5611AllOnesProm)
+{
+
+    // given
+    uint16_t ms5611_prom[] = {0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF,0xFFFF};
+
+    // when
+    int8_t result = ms5611_crc(ms5611_prom);
+
+    // then
+    EXPECT_EQ(-1, result);
+
+}
+
+// STUBS
+
+extern "C" {
+
+void delay(uint32_t) {}
+void delayMicroseconds(uint32_t) {}
+bool i2cWrite(uint8_t, uint8_t, uint8_t) {
+    return 1;
+}
+bool i2cRead(uint8_t, uint8_t, uint8_t, uint8_t) {
+    return 1;
+}
+
+}