diff --git a/boards/px4/raspberrypi/src/board_config.h b/boards/px4/raspberrypi/src/board_config.h
index 6f79527e69..28d0665ca9 100644
--- a/boards/px4/raspberrypi/src/board_config.h
+++ b/boards/px4/raspberrypi/src/board_config.h
@@ -48,8 +48,10 @@
 /*
  * I2C busses
  */
-#define PX4_I2C_BUS_EXPANSION	1
-#define PX4_NUMBER_I2C_BUSES 1
+#define PX4_I2C_BUS_ONBOARD   1
+#define PX4_I2C_BUS_EXPANSION 0
+
+#define PX4_NUMBER_I2C_BUSES 2
 
 #define ADC_BATTERY_VOLTAGE_CHANNEL 0
 #define ADC_BATTERY_CURRENT_CHANNEL 1
diff --git a/src/drivers/barometer/ms5611/MS5611.hpp b/src/drivers/barometer/ms5611/MS5611.hpp
index 224e47bca5..93d2cce4b6 100644
--- a/src/drivers/barometer/ms5611/MS5611.hpp
+++ b/src/drivers/barometer/ms5611/MS5611.hpp
@@ -96,12 +96,12 @@ class MS5611 : public cdev::CDev, public px4::ScheduledWorkItem
 {
 public:
 	MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char *path, enum MS56XX_DEVICE_TYPES device_type);
-	~MS5611();
+	~MS5611() override;
 
-	virtual int		init();
+	int		init() override;
 
-	virtual ssize_t		read(cdev::file_t *filp, char *buffer, size_t buflen);
-	virtual int		ioctl(cdev::file_t *filp, int cmd, unsigned long arg);
+	ssize_t		read(cdev::file_t *filp, char *buffer, size_t buflen) override;
+	int		ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
 
 	/**
 	 * Diagnostics - print some basic information about the driver.
@@ -168,10 +168,10 @@ protected:
 	 *
 	 * @return		OK if the measurement command was successful.
 	 */
-	virtual int		measure();
+	int			measure();
 
 	/**
 	 * Collect the result of the most recent measurement.
 	 */
-	virtual int		collect();
+	int			collect();
 };
diff --git a/src/drivers/barometer/ms5611/ms5611_i2c.cpp b/src/drivers/barometer/ms5611/ms5611_i2c.cpp
index 12c01ff52c..7ac34e6921 100644
--- a/src/drivers/barometer/ms5611/ms5611_i2c.cpp
+++ b/src/drivers/barometer/ms5611/ms5611_i2c.cpp
@@ -50,13 +50,13 @@ class MS5611_I2C : public device::I2C
 {
 public:
 	MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
-	virtual ~MS5611_I2C() = default;
+	~MS5611_I2C() override = default;
 
-	virtual int	read(unsigned offset, void *data, unsigned count);
-	virtual int	ioctl(unsigned operation, unsigned &arg);
+	int	read(unsigned offset, void *data, unsigned count) override;
+	int	ioctl(unsigned operation, unsigned &arg) override;
 
 protected:
-	virtual int	probe();
+	int	probe() override;
 
 private:
 	ms5611::prom_u	&_prom;
@@ -240,7 +240,7 @@ MS5611_I2C::_read_prom()
 			last_val = prom_buf[0];
 		}
 
-		if (prom_buf[0] != last_val || prom_buf[1] != last_val) {
+		if ((prom_buf[0] != last_val) || (prom_buf[1] != last_val)) {
 			bits_stuck = false;
 		}
 
diff --git a/src/drivers/barometer/ms5611/ms5611_main.cpp b/src/drivers/barometer/ms5611/ms5611_main.cpp
index 42aac3a309..bbf04cf888 100644
--- a/src/drivers/barometer/ms5611/ms5611_main.cpp
+++ b/src/drivers/barometer/ms5611/ms5611_main.cpp
@@ -111,9 +111,14 @@ start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
 
 	bus.dev = new MS5611(interface, prom_buf, bus.devpath, device_type);
 
-	if (bus.dev != nullptr && OK != bus.dev->init()) {
+	if (bus.dev == nullptr) {
+		PX4_ERR("alloc failed");
+		return false;
+	}
+
+	if (bus.dev->init() != PX4_OK) {
 		delete bus.dev;
-		bus.dev = NULL;
+		bus.dev = nullptr;
 		return false;
 	}
 
@@ -125,7 +130,7 @@ start_bus(struct ms5611_bus_option &bus, enum MS56XX_DEVICE_TYPES device_type)
 		return false;
 	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		px4_close(fd);
 		PX4_ERR("failed setting default poll rate");
 		return false;