Methods and systems are provided for estimating barometric pressure based on a reference barometric pressure and manifold pressures at two different altitudes. In one example, a method may include adjusting an operating condition of the engine based on barometric pressure during engine operation at throttle angles less than a threshold, the barometric pressure based on a current manifold pressure relative to a reference manifold pressure at a current throttle angle and reference barometric pressure. Further, the method may include adjusting a manifold pressure sensor output based on an offset of the manifold pressure sensor.