diff --git a/ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c b/ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c
index e01e1e9cc7..3b155e05e0 100644
--- a/ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c
+++ b/ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c
@@ -42,22 +42,13 @@ static void ultrasonic_update_impl(ultrasonic_system_t *self, TickType_t now) {
     ESP_LOGI(TAG, "Ultrasonic sensor initialized");
     }*/
 
-void ultrasonic_system_init(ultrasonic_system_t *sys)
-{
-        sys->distance_cm = 0.0f;
-        sys->update = ultrasonic_update_impl;
+void ultrasonic_system_init(ultrasonic_system_t *sys, i2c_master_bus_handle_t bus_handle) {
+    sys->distance_cm = 0.0f;
+    sys->update = ultrasonic_update_impl;
+    i2c_device_config_t dev_cfg = {
+        .device_address = ULTRASONIC_I2C_ADDR,
+        .scl_speed_hz = ULTRASONIC_I2C_SPEED_HZ, };
 
-        i2c_config_t conf = {
-            .mode = I2C_MODE_MASTER,
-            .sda_io_num = I2C_SDA_PIN,
-            .scl_io_num = I2C_SCL_PIN,
-            .sda_pullup_en = GPIO_PULLUP_ENABLE,
-            .scl_pullup_en = GPIO_PULLUP_ENABLE,
-            .master.clk_speed = I2C_FREQ_HZ,
-        };
-
-        ESP_ERROR_CHECK(i2c_param_config(I2C_PORT, &conf));
-        ESP_ERROR_CHECK(i2c_driver_install(I2C_PORT, conf.mode, 0, 0, 0));
-
-        ESP_LOGI(TAG, "HC-SR04 (I2C mode) initialized");
+    ESP_ERROR_CHECK(i2c_master_bus_add_device(bus_handle, &dev_cfg, &sys->dev));
+    ESP_LOGI(TAG, "HC-SR04 (I2C mode) registered at 0x%02X", ULTRASONIC_I2C_ADDR);
 }