diff --git a/js/fc.js b/js/fc.js
index a1cdff4e..161de64c 100644
--- a/js/fc.js
+++ b/js/fc.js
@@ -162,6 +162,7 @@ var FC = {
             accelerometer: [0, 0, 0],
             magnetometer: [0, 0, 0],
             altitude: 0,
+            barometer: 0,
             sonar: 0,
             kinematics: [0.0, 0.0, 0.0],
             debug: [0, 0, 0, 0]
diff --git a/js/msp/MSPHelper.js b/js/msp/MSPHelper.js
index 5eccf091..c1a605c2 100644
--- a/js/msp/MSPHelper.js
+++ b/js/msp/MSPHelper.js
@@ -177,6 +177,10 @@ var mspHelper = (function (gui) {
                 break;
             case MSPCodes.MSP_ALTITUDE:
                 SENSOR_DATA.altitude = parseFloat((data.getInt32(0, true) / 100.0).toFixed(2)); // correct scale factor
+                // On 1.6 and above this provides also baro raw altitude
+                if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
+                    SENSOR_DATA.barometer = parseFloat((data.getInt32(6, true) / 100.0).toFixed(2)); // correct scale factor
+                }
                 break;
             case MSPCodes.MSP_SONAR:
                 SENSOR_DATA.sonar = data.getInt32(0, true);
diff --git a/tabs/sensors.html b/tabs/sensors.html
index 7ce82698..ad95b131 100644
--- a/tabs/sensors.html
+++ b/tabs/sensors.html
@@ -158,7 +158,7 @@
                 <div class="clear-both"></div>
             </div>
         </div>
-        <div class="wrapper baro">
+        <div class="wrapper altitude">
             <div class="gui_box grey">
                 <div class="plot_control">
                     <div class="title">Barometer - meters</div>
@@ -177,12 +177,14 @@
                                 <option value="1000">1000 ms</option>
                             </select>
                         </dd>
-                        <dt>X:</dt>
+                        <dt>Alt:</dt>
                         <dd class="x">0</dd>
+                        <dt>Baro:</dt>
+                        <dd class="y">0</dd>
                     </dl>
                 </div>
 
-                <svg id="baro">
+                <svg id="altitude">
             <g class="grid x" transform="translate(40, 120)"></g>
             <g class="grid y" transform="translate(40, 10)"></g>
             <g class="data" transform="translate(41, 10)"></g>
diff --git a/tabs/sensors.js b/tabs/sensors.js
index b44876b5..a7a2754c 100644
--- a/tabs/sensors.js
+++ b/tabs/sensors.js
@@ -156,11 +156,11 @@ TABS.sensors.initialize = function (callback) {
         }
     }
 
-    function plot_baro(enable) {
+    function plot_altitude(enable) {
         if (enable) {
-            $('.wrapper.baro').show();
+            $('.wrapper.altitude').show();
         } else {
-            $('.wrapper.baro').hide();
+            $('.wrapper.altitude').hide();
         }
     }
 
@@ -186,9 +186,6 @@ TABS.sensors.initialize = function (callback) {
 
         // disable graphs for sensors that are missing
         var checkboxes = $('.tab-sensors .info .checkboxes input');
-        if (!bit_check(CONFIG.activeSensors, 1)) { // baro
-            checkboxes.eq(3).prop('disabled', true);
-        }
         if (!bit_check(CONFIG.activeSensors, 2)) { // mag
             checkboxes.eq(2).prop('disabled', true);
         }
@@ -211,7 +208,7 @@ TABS.sensors.initialize = function (callback) {
                     plot_mag(enable);
                     break;
                 case 3:
-                    plot_baro(enable);
+                    plot_altitude(enable);
                     break;
                 case 4:
                     plot_sonar(enable);
@@ -249,13 +246,13 @@ TABS.sensors.initialize = function (callback) {
         var samples_gyro_i = 0,
             samples_accel_i = 0,
             samples_mag_i = 0,
-            samples_baro_i = 0,
+            samples_altitude_i = 0,
             samples_sonar_i = 0,
             samples_debug_i = 0,
             gyro_data = initDataArray(3),
             accel_data = initDataArray(3),
             mag_data = initDataArray(3),
-            baro_data = initDataArray(1),
+            altitude_data = (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) ? initDataArray(2) : initDataArray(1),
             sonar_data = initDataArray(1),
             debug_data = [
             initDataArray(1),
@@ -267,7 +264,7 @@ TABS.sensors.initialize = function (callback) {
         var gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-2000, 2000]);
         var accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-2, 2]);
         var magHelpers = initGraphHelpers('#mag', samples_mag_i, [-1, 1]);
-        var baroHelpers = initGraphHelpers('#baro', samples_baro_i);
+        var altitudeHelpers = initGraphHelpers('#altitude', samples_altitude_i);
         var sonarHelpers = initGraphHelpers('#sonar', samples_sonar_i);
         var debugHelpers = [
             initGraphHelpers('#debug1', samples_debug_i),
@@ -452,11 +449,17 @@ TABS.sensors.initialize = function (callback) {
             }
 
             function update_altitude_graph() {
-                updateGraphHelperSize(baroHelpers);
+                updateGraphHelperSize(altitudeHelpers);
 
-                samples_baro_i = addSampleToData(baro_data, samples_baro_i, [SENSOR_DATA.altitude]);
-                drawGraph(baroHelpers, baro_data, samples_baro_i);
+                if (semver.gte(CONFIG.flightControllerVersion, "1.6.0")) {
+                    samples_altitude_i = addSampleToData(altitude_data, samples_altitude_i, [SENSOR_DATA.altitude, SENSOR_DATA.barometer]);
+                }
+                else {
+                    samples_altitude_i = addSampleToData(altitude_data, samples_altitude_i, [SENSOR_DATA.altitude]);
+                }
+                drawGraph(altitudeHelpers, altitude_data, samples_altitude_i);
                 raw_data_text_ements.x[3].text(SENSOR_DATA.altitude.toFixed(2));
+                raw_data_text_ements.y[3].text(SENSOR_DATA.barometer.toFixed(2));
             }
 
             function update_sonar_graphs() {