diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1bee016e7317b5bd31b5b4051942f14b80ec3036..f98a0eec04ecf88930fa3ae2ce949894eda41600 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,7 +39,7 @@ sbs_target(auxiliary-entry stm32f429zi_skyward_pyxis_auxiliary)
 
 add_executable(main-entry-euroc src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER})
 target_include_directories(main-entry-euroc PRIVATE ${OBSW_INCLUDE_DIRS})
-target_compile_definitions(main-entry-euroc PRIVATE EUROC)
+target_compile_definitions(main-entry-euroc PRIVATE EUROC BUZZER_LOW INTERP)
 sbs_target(main-entry-euroc stm32f429zi_skyward_death_stack_v3)
 
 add_executable(main-entry-roccaraso src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER})
@@ -54,17 +54,17 @@ sbs_target(main-entry-milano stm32f429zi_skyward_death_stack_v3)
 
 add_executable(main-entry-hil-euroc src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER} ${HIL})
 target_include_directories(main-entry-hil-euroc PRIVATE ${OBSW_INCLUDE_DIRS})
-target_compile_definitions(main-entry-hil-euroc PRIVATE HILSimulation EUROC BUZZER_LOW USE_SERIAL_TRANSCEIVER INTERP)
+target_compile_definitions(main-entry-hil-euroc PRIVATE HILSimulation EUROC BUZZER_LOW INTERP)
 sbs_target(main-entry-hil-euroc stm32f429zi_skyward_death_stack_v3)
 
 add_executable(main-entry-hil-roccaraso src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER} ${HIL})
 target_include_directories(main-entry-hil-roccaraso PRIVATE ${OBSW_INCLUDE_DIRS})
-target_compile_definitions(main-entry-hil-roccaraso PRIVATE HILSimulation ROCCARASO BUZZER_LOW USE_SERIAL_TRANSCEIVER INTERP)
+target_compile_definitions(main-entry-hil-roccaraso PRIVATE HILSimulation ROCCARASO BUZZER_LOW)
 sbs_target(main-entry-hil-roccaraso stm32f429zi_skyward_death_stack_v3)
 
 add_executable(main-entry-hil-milano src/entrypoints/Main/main-entry.cpp ${MAIN_COMPUTER} ${HIL})
 target_include_directories(main-entry-hil-milano PRIVATE ${OBSW_INCLUDE_DIRS})
-target_compile_definitions(main-entry-hil-milano PRIVATE HILSimulation MILANO BUZZER_LOW USE_SERIAL_TRANSCEIVER)
+target_compile_definitions(main-entry-hil-milano PRIVATE HILSimulation MILANO BUZZER_LOW)
 sbs_target(main-entry-hil-milano stm32f429zi_skyward_death_stack_v3)
 
 add_executable(main-entry-hil-maker-faire src/entrypoints/Main/main-entry-maker-faire.cpp ${MAIN_COMPUTER} ${HIL})
diff --git a/src/boards/Main/Configs/AirBrakesControllerConfigInterp.h b/src/boards/Main/Configs/AirBrakesControllerConfigInterp.h
index ae0d3aa5234c950f3ac56ff583f161928311ca55..22e27612fc65b4e444260267e0434327bdd4c332 100644
--- a/src/boards/Main/Configs/AirBrakesControllerConfigInterp.h
+++ b/src/boards/Main/Configs/AirBrakesControllerConfigInterp.h
@@ -35,7 +35,9 @@ static const Boardcore::AirBrakesInterpConfig ABK_CONFIG_INTERP{
     .INITIAL_FILTER_COEFF = 0.3,
     .INITIAL_T_FILTER     = 12,
     .DELTA_T_FILTER       = 2.5,
-    .FILTER_RATIO         = 2};
+    .FILTER_RATIO         = 2,
+};
+
 }  // namespace AirBrakesControllerConfig
 
 }  // namespace Main
diff --git a/src/boards/Main/Sensors/Sensors.cpp b/src/boards/Main/Sensors/Sensors.cpp
index 21a98a1cd79b7f5b44e717f142913daf3f50a255..773637208cabaa2b513e8572b28ef2b36e9269fe 100644
--- a/src/boards/Main/Sensors/Sensors.cpp
+++ b/src/boards/Main/Sensors/Sensors.cpp
@@ -164,15 +164,37 @@ ADS131M04Data Sensors::getADS131M04LastSample()
 MPXH6115AData Sensors::getStaticPressureLastSample()
 {
     PauseKernelLock lock;
+
+#ifndef HILSimulation
     return staticPressure != nullptr ? staticPressure->getLastSample()
                                      : MPXH6115AData{};
+#else
+    auto baroData = state.barometer->getLastSample();
+
+    MPXH6115AData data;
+    data.pressureTimestamp = baroData.pressureTimestamp;
+    data.pressure          = baroData.pressure;
+
+    return data;
+#endif
 }
 
 MPXH6400AData Sensors::getDplPressureLastSample()
 {
     PauseKernelLock lock;
+
+#ifndef HILSimulation
     return dplPressure != nullptr ? dplPressure->getLastSample()
                                   : MPXH6400AData{};
+#else
+    auto baroData = state.barometer->getLastSample();
+
+    MPXH6400AData data;
+    data.pressureTimestamp = baroData.pressureTimestamp;
+    data.pressure          = baroData.pressure;
+
+    return data;
+#endif
 }
 
 Boardcore::PitotData Sensors::getPitotLastSample()
@@ -265,7 +287,7 @@ Sensors::Sensors()
 
     batteryVoltageInit();
     internalAdcInit();
-    vn100Init();
+    // vn100Init();
 
     // Moved down here because the bmx takes some times to start
     bmx160Init();
diff --git a/src/boards/Main/StateMachines/NASController/NASController.cpp b/src/boards/Main/StateMachines/NASController/NASController.cpp
index cf39b26e050e0695362e5ec3edbbb9ce49d0af7e..a212199ae2ec6846e83acf3aed227fb95f853df9 100644
--- a/src/boards/Main/StateMachines/NASController/NASController.cpp
+++ b/src/boards/Main/StateMachines/NASController/NASController.cpp
@@ -62,7 +62,6 @@ void NASController::update()
         auto gpsData = Sensors::getInstance().getUbxGpsLastSample();
         auto pressureData =
             Sensors::getInstance().getStaticPressureLastSample();
-        auto pitotData = Sensors::getInstance().getPitotLastSample();
 
         // Predict step
         nas.predictGyro(imuData);
@@ -73,11 +72,6 @@ void NASController::update()
         nas.correctGPS(gpsData);
         nas.correctBaro(pressureData.pressure);
 
-        // Correct the pitot only during ascending
-        if (FlightModeManager::getInstance().getStatus().state ==
-            FlightModeManagerState::ASCENDING)
-            nas.correctPitot(pitotData.deltaP, pressureData.pressure);
-
         Logger::getInstance().log(nas.getState());
         FlightStatsRecorder::getInstance().update(nas.getState());
     }
diff --git a/src/boards/Payload/StateMachines/NASController/NASController.cpp b/src/boards/Payload/StateMachines/NASController/NASController.cpp
index d5571e33053f4e07952debac7392ca2d27dbe5a0..8ff21963b71aa4b429713de80c47f6dfd2358c9d 100644
--- a/src/boards/Payload/StateMachines/NASController/NASController.cpp
+++ b/src/boards/Payload/StateMachines/NASController/NASController.cpp
@@ -60,8 +60,6 @@ void NASController::update()
             Sensors::getInstance().getBMX160WithCorrectionLastSample();
         auto gpsData      = Sensors::getInstance().getUbxGpsLastSample();
         auto pressureData = Sensors::getInstance().getMS5803LastSample();
-        // auto pitotData =
-        //     Sensors::getInstance().getDifferentialPressureLastSample();
 
         // Predict step
         nas.predictGyro(imuData);
@@ -71,7 +69,6 @@ void NASController::update()
         nas.correctMag(imuData);
         nas.correctGPS(gpsData);
         nas.correctBaro(pressureData.pressure);
-        // nas.correctPitot(pitotData.pressure, pressureData.pressure);
 
         Logger::getInstance().log(nas.getState());
         FlightStatsRecorder::getInstance().update(nas.getState());
diff --git a/src/hardware_in_the_loop/HIL/HILTransceiver.cpp b/src/hardware_in_the_loop/HIL/HILTransceiver.cpp
index f5e23848123a92fadb8c29974db5fc6abe64eaa2..4077d3595cb52f19087e5e6c11bccd5ecd561315 100644
--- a/src/hardware_in_the_loop/HIL/HILTransceiver.cpp
+++ b/src/hardware_in_the_loop/HIL/HILTransceiver.cpp
@@ -34,7 +34,7 @@ using namespace Main;
  * @brief Construct a serial connection attached to a control algorithm
  */
 HILTransceiver::HILTransceiver()
-    : hilSerial(Buses::getInstance().uart4), actuatorData(ActuatorData{})
+    : hilSerial(Buses::getInstance().usart3), actuatorData(ActuatorData{})
 {
 }