     } // imuread
      
     ///////////////////////////////////////////////////////////////
+    // AUX Sensors
+    ///////////////////////////////////////////////////////////////
+
+    //  add the pressure data to the structure
+    if (pressure != NULL) {
+      if ( (currentTime - lastPressurePoll) >= 20000 ) { // 20ms
+        lastPressurePoll = currentTime;
+        pressure->pressureRead(imuData);
+      }
+    }
+    
+    //  add the humidity data to the structure
+    if (humidity != NULL) {
+      if ( (currentTime - lastHumidityPoll) >= 80000 ) { // 12.5Hz = 80ms
+        lastHumidityPoll = currentTime;
+        humidity->humidityRead(imuData);
+      }
+    }
+
+    ///////////////////////////////////////////////////////////////
     // Input Commands
     ///////////////////////////////////////////////////////////////
     if (INAVAIL) {

      } // end if serial input available
    } // end INAVAIL

    // Blink LED if gyro is calibrated otherwise keep it on
    ///////////////////////////////////////////////////////////////
    // But keep LED on if system is moving

   			//  Probably too late to adjust here as value was already inserted into fusion algorithm
   			//  imu->setCompassEnable(false);
    		//}
        
        ////////////////////////////////////////////////////////////////////////////////
        // Calibration
        ////////////////////////////////////////////////////////////////////////////////
