diff --git a/sw/airborne/boards/lisa_l/baro_board.c b/sw/airborne/boards/lisa_l/baro_board.c
index 3bf8cc2a201..11829b5acfd 100644
--- a/sw/airborne/boards/lisa_l/baro_board.c
+++ b/sw/airborne/boards/lisa_l/baro_board.c
@@ -26,6 +26,7 @@ void baro_init(void) {
 
 void baro_periodic(void) {
   // check i2c_done
+  if (!i2c_idle(&i2c2)) return;
   switch (baro_board.status) {
   case LBS_UNINITIALIZED:
     baro_board_send_reset();