diff --git a/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp b/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
index d62ace27f44e7525bed0e2f9f4367e8b1430b0e9..283b815e3f50fb504214cc830d4b8ac5bee247be 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSpi.cpp
@@ -35,8 +35,6 @@ constexpr uint16_t UBXFrame::MAX_FRAME_LENGTH;
 constexpr uint8_t UBXFrame::PREAMBLE[];
 constexpr uint8_t UBXFrame::WAIT;
 
-constexpr float UBXGPSSpi::MS_TO_TICK;
-
 constexpr unsigned int UBXGPSSpi::RESET_SLEEP_TIME;
 constexpr unsigned int UBXGPSSpi::READ_TIMEOUT;
 constexpr unsigned int UBXGPSSpi::MAX_TRIES;
@@ -241,8 +239,8 @@ bool UBXGPSSpi::setPVTMessageRate()
 
 bool UBXGPSSpi::readUBXFrame(UBXFrame& frame)
 {
-    long long start = miosix::getTick();
-    long long end   = start + READ_TIMEOUT * MS_TO_TICK;
+    long long start = miosix::getTime();
+    long long end   = start + READ_TIMEOUT * Constants::NS_IN_MS;
 
     {
         spiSlave.bus.configure(spiSlave.config);
@@ -253,7 +251,7 @@ bool UBXGPSSpi::readUBXFrame(UBXFrame& frame)
         bool waiting = false;
         while (i < 2)
         {
-            if (miosix::getTick() >= end)
+            if (miosix::getTime() >= end)
             {
                 // LOG_ERR(logger, "Timeout for read expired");
                 spiSlave.bus.deselect(spiSlave.cs);
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSpi.h b/src/shared/sensors/UBXGPS/UBXGPSSpi.h
index 71739b4a685fb94c553eeb17d4ca315d775cac87..e36b6d5b431ab603acae63f597e5e46a95c7ac6f 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSpi.h
+++ b/src/shared/sensors/UBXGPS/UBXGPSSpi.h
@@ -141,8 +141,6 @@ private:
 
     PrintLogger logger = Logging::getLogger("ubxgps");
 
-    static constexpr float MS_TO_TICK = miosix::TICK_FREQ / 1000.f;
-
     static constexpr unsigned int RESET_SLEEP_TIME = 1000;  // [ms]
     static constexpr unsigned int READ_TIMEOUT     = 1;     // [ms]
     static constexpr unsigned int MAX_TRIES        = 5;     // [1]
diff --git a/src/shared/sensors/VN100/VN100.cpp b/src/shared/sensors/VN100/VN100.cpp
index 7a808633d782a3b9aa948348c87dbadedf602837..c6a482e5a1b1c7fa77aa8a66ac91dd097e5a679f 100644
--- a/src/shared/sensors/VN100/VN100.cpp
+++ b/src/shared/sensors/VN100/VN100.cpp
@@ -120,14 +120,16 @@ void VN100::run()
 {
     while (!shouldStop())
     {
-        long long initialTime = miosix::getTick();
+        long long initialTime = miosix::getTime();
         {
             // Sample the data locking the mutex
             miosix::Lock<FastMutex> l(mutex);
             threadSample = sampleData();
         }
+
         // Sleep for the sampling period
-        miosix::Thread::sleepUntil(initialTime + samplePeriod);
+        miosix::Thread::nanoSleepUntil(initialTime +
+                                       samplePeriod * Constants::NS_IN_MS);
     }
 }
 
diff --git a/src/shared/sensors/analog/pressure/SoftwareDifferentialPressureSensor.h b/src/shared/sensors/analog/pressure/SoftwareDifferentialPressureSensor.h
index 86df2e1e72728cdc7f43df0652b16c465c11b3ac..0b1df013b09553a6abe1eccf03cc6c4898aa671f 100644
--- a/src/shared/sensors/analog/pressure/SoftwareDifferentialPressureSensor.h
+++ b/src/shared/sensors/analog/pressure/SoftwareDifferentialPressureSensor.h
@@ -67,7 +67,7 @@ public:
         float p1 = first_pressure_sensor->getLastSample().pressure;
         float p2 = second_pressure_sensor->getLastSample().pressure;
 
-        return PressureData{miosix::getTick(), p1 - p2};
+        return PressureData{miosix::getTime(), p1 - p2};
     }
 
 private: