diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index cb4ee6dfb6..83d12e944a 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -68,7 +68,6 @@ add_subdirectory(Utility)
 
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
-	EKF/baro_height_control.cpp
 	EKF/bias_estimator.cpp
 	EKF/control.cpp
 	EKF/covariance.cpp
@@ -100,6 +99,12 @@ if(CONFIG_EKF2_AUXVEL)
 	list(APPEND EKF_SRCS EKF/auxvel_fusion.cpp)
 endif()
 
+if(CONFIG_EKF2_BAROMETER)
+	list(APPEND EKF_SRCS
+		EKF/baro_height_control.cpp
+	)
+endif()
+
 if(CONFIG_EKF2_DRAG_FUSION)
 	list(APPEND EKF_SRCS EKF/drag_fusion.cpp)
 endif()
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index 475c8ef63c..3d14082a25 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -33,7 +33,6 @@
 
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
-	baro_height_control.cpp
 	bias_estimator.cpp
 	control.cpp
 	covariance.cpp
@@ -65,6 +64,12 @@ if(CONFIG_EKF2_AUXVEL)
 	list(APPEND EKF_SRCS auxvel_fusion.cpp)
 endif()
 
+if(CONFIG_EKF2_BAROMETER)
+	list(APPEND EKF_SRCS
+		baro_height_control.cpp
+	)
+endif()
+
 if(CONFIG_EKF2_DRAG_FUSION)
 	list(APPEND EKF_SRCS drag_fusion.cpp)
 endif()
diff --git a/src/modules/ekf2/EKF/baro_height_control.cpp b/src/modules/ekf2/EKF/baro_height_control.cpp
index fb649d5c5f..9eee1c0e1a 100644
--- a/src/modules/ekf2/EKF/baro_height_control.cpp
+++ b/src/modules/ekf2/EKF/baro_height_control.cpp
@@ -51,7 +51,12 @@ void Ekf::controlBaroHeightFusion()
 
 	if (_baro_buffer && _baro_buffer->pop_first_older_than(_time_delayed_us, &baro_sample)) {
 
+#if defined(CONFIG_EKF2_BARO_COMPENSATION)
 		const float measurement = compensateBaroForDynamicPressure(baro_sample.hgt);
+#else
+		const float measurement = baro_sample.hgt;
+#endif
+
 		const float measurement_var = sq(_params.baro_noise);
 
 		const float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index 80a9b81f7b..0b1a1d03fa 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -423,7 +423,11 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 			if (bad_vz_gps || bad_vz_ev) {
+#if defined(CONFIG_EKF2_BAROMETER)
 				bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.0f);
+#else
+				bool bad_z_baro = false;
+#endif
 				bool bad_z_gps  = _control_status.flags.gps_hgt  && (down_dvel_bias * _aid_src_gnss_hgt.innovation < 0.0f);
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp
index 0885ad9168..9f8b0c3dd8 100644
--- a/src/modules/ekf2/EKF/ekf.cpp
+++ b/src/modules/ekf2/EKF/ekf.cpp
@@ -109,7 +109,9 @@ void Ekf::reset()
 	_gps_checks_passed = false;
 	_gps_alt_ref = NAN;
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	_baro_counter = 0;
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	_mag_counter = 0;
@@ -119,7 +121,9 @@ void Ekf::reset()
 	_time_good_vert_accel = 0;
 	_clip_counter = 0;
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	resetEstimatorAidStatus(_aid_src_baro_hgt);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_AIRSPEED)
 	resetEstimatorAidStatus(_aid_src_airspeed);
 #endif // CONFIG_EKF2_AIRSPEED
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index bac99afb7c..19ba7bec77 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -91,9 +91,14 @@ public:
 	void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const;
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
+#if defined(CONFIG_EKF2_BAROMETER)
+	const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
+	const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
+
 	void getBaroHgtInnov(float &baro_hgt_innov) const { baro_hgt_innov = _aid_src_baro_hgt.innovation; }
 	void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _aid_src_baro_hgt.innovation_variance; }
 	void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _aid_src_baro_hgt.test_ratio; }
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_TERRAIN)
 	// terrain estimate
@@ -503,7 +508,7 @@ public:
 	bool isYawEmergencyEstimateAvailable() const;
 
 	uint8_t getHeightSensorRef() const { return _height_sensor_ref; }
-	const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
+
 	const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); }
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
@@ -520,8 +525,6 @@ public:
 	const auto &aid_src_sideslip() const { return _aid_src_sideslip; }
 #endif // CONFIG_EKF2_SIDESLIP
 
-	const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
-
 	const auto &aid_src_fake_hgt() const { return _aid_src_fake_hgt; }
 	const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
 
@@ -669,7 +672,6 @@ private:
 	bool _flow_data_ready{false};	///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
-	estimator_aid_source1d_s _aid_src_baro_hgt{};
 #if defined(CONFIG_EKF2_AIRSPEED)
 	estimator_aid_source1d_s _aid_src_airspeed{};
 #endif // CONFIG_EKF2_AIRSPEED
@@ -724,12 +726,20 @@ private:
 
 	// Variables used by the initial filter alignment
 	bool _is_first_imu_sample{true};
-	uint32_t _baro_counter{0};		///< number of baro samples read during initialisation
 	AlphaFilter<Vector3f> _accel_lpf{0.1f};	///< filtered accelerometer measurement used to align tilt (m/s/s)
 	AlphaFilter<Vector3f> _gyro_lpf{0.1f};	///< filtered gyro measurement used for alignment excessive movement check (rad/sec)
 
+#if defined(CONFIG_EKF2_BAROMETER)
+	estimator_aid_source1d_s _aid_src_baro_hgt{};
+
 	// Variables used to perform in flight resets and switch between height sources
 	AlphaFilter<float> _baro_lpf{0.1f};	///< filtered barometric height measurement (m)
+	uint32_t _baro_counter{0};		///< number of baro samples read during initialisation
+
+	HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref};
+
+	bool _baro_hgt_faulty{false};		///< true if baro data have been declared faulty TODO: move to fault flags
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	float _mag_heading_prev{};                 ///< previous value of mag heading (rad)
@@ -773,7 +783,6 @@ private:
 	Vector3f _prev_accel_bias_var{};        ///< saved accel XYZ bias variances
 
 	// height sensor status
-	bool _baro_hgt_faulty{false};		///< true if baro data have been declared faulty TODO: move to fault flags
 	bool _gps_intermittent{true};           ///< true if data into the buffer is intermittent
 
 	// imu fault status
@@ -1044,7 +1053,9 @@ private:
 	// and a scalar innovation value
 	void fuse(const Vector24f &K, float innovation);
 
+#if defined(CONFIG_EKF2_BARO_COMPENSATION)
 	float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
+#endif // CONFIG_EKF2_BARO_COMPENSATION
 
 	// calculate the earth rotation vector from a given latitude
 	Vector3f calcEarthRateNED(float lat_rad) const;
@@ -1135,13 +1146,16 @@ private:
 	// control for combined height fusion mode (implemented for switching between baro and range height)
 	void controlHeightFusion(const imuSample &imu_delayed);
 	void checkHeightSensorRefFallback();
-	void controlBaroHeightFusion();
 	void controlGnssHeightFusion(const gpsSample &gps_sample);
 
+#if defined(CONFIG_EKF2_BAROMETER)
+	void controlBaroHeightFusion();
 	void stopBaroHgtFusion();
-	void stopGpsHgtFusion();
 
 	void updateGroundEffect();
+#endif // CONFIG_EKF2_BAROMETER
+
+	void stopGpsHgtFusion();
 
 	// gravity fusion: heuristically enable / disable gravity fusion
 	void controlGravityFusion(const imuSample &imu_delayed);
@@ -1198,7 +1212,6 @@ private:
 	uint8_t _height_sensor_ref{HeightSensor::UNKNOWN};
 	uint8_t _position_sensor_ref{static_cast<uint8_t>(PositionSensor::GNSS)};
 
-	HeightBiasEstimator _baro_b_est{HeightSensor::BARO, _height_sensor_ref};
 	HeightBiasEstimator _gps_hgt_b_est{HeightSensor::GNSS, _height_sensor_ref};
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 1b4cb37e44..a6c376f37e 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -200,7 +200,9 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
 
 	_state_reset_status.reset_count.posD++;
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	_baro_b_est.setBias(_baro_b_est.getBias() + delta_z);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - delta_z);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -241,9 +243,9 @@ void Ekf::constrainStates()
 	_state.wind_vel = matrix::constrain(_state.wind_vel, -100.0f, 100.0f);
 }
 
+#if defined(CONFIG_EKF2_BARO_COMPENSATION)
 float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
 {
-#if defined(CONFIG_EKF2_BARO_COMPENSATION)
 	if (_control_status.flags.wind && local_position_is_valid()) {
 		// calculate static pressure error = Pmeas - Ptruth
 		// model position error sensitivity as a body fixed ellipse with a different scale in the positive and
@@ -271,11 +273,11 @@ float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated)
 		// correct baro measurement using pressure error estimate and assuming sea level gravity
 		return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G);
 	}
-#endif // CONFIG_EKF2_BARO_COMPENSATION
 
 	// otherwise return the uncorrected baro measurement
 	return baro_alt_uncompensated;
 }
+#endif // CONFIG_EKF2_BARO_COMPENSATION
 
 // calculate the earth rotation vector
 Vector3f Ekf::calcEarthRateNED(float lat_rad) const
@@ -706,10 +708,12 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
 	float hgt_sum = 0.f;
 	int n_hgt_sources = 0;
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	if (_control_status.flags.baro_hgt) {
 		hgt_sum += sqrtf(_aid_src_baro_hgt.test_ratio);
 		n_hgt_sources++;
 	}
+#endif // CONFIG_EKF2_BAROMETER
 
 	if (_control_status.flags.gps_hgt) {
 		hgt_sum += sqrtf(_aid_src_gnss_hgt.test_ratio);
@@ -913,6 +917,7 @@ float Ekf::getYawVar() const
 	return yaw_var;
 }
 
+#if defined(CONFIG_EKF2_BAROMETER)
 void Ekf::updateGroundEffect()
 {
 	if (_control_status.flags.in_air && !_control_status.flags.fixed_wing) {
@@ -935,6 +940,7 @@ void Ekf::updateGroundEffect()
 		_control_status.flags.gnd_effect = false;
 	}
 }
+#endif // CONFIG_EKF2_BAROMETER
 
 void Ekf::increaseQuatYawErrVariance(float yaw_variance)
 {
diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index 42345d8b14..d32e8459c0 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -50,7 +50,9 @@ EstimatorInterface::~EstimatorInterface()
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	delete _mag_buffer;
 #endif // CONFIG_EKF2_MAGNETOMETER
+#if defined(CONFIG_EKF2_BAROMETER)
 	delete _baro_buffer;
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	delete _range_buffer;
 #endif // CONFIG_EKF2_RANGE_FINDER
@@ -221,6 +223,7 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)
 	}
 }
 
+#if defined(CONFIG_EKF2_BAROMETER)
 void EstimatorInterface::setBaroData(const baroSample &baro_sample)
 {
 	if (!_initialised) {
@@ -256,6 +259,7 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
 		ECL_WARN("baro data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _baro_buffer->get_newest().time_us, _min_obs_interval_us);
 	}
 }
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_AIRSPEED)
 void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
@@ -717,9 +721,11 @@ void EstimatorInterface::print_status()
 	}
 #endif // CONFIG_EKF2_MAGNETOMETER
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	if (_baro_buffer) {
 		printf("baro buffer: %d/%d (%d Bytes)\n", _baro_buffer->entries(), _baro_buffer->get_length(), _baro_buffer->get_total_size());
 	}
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	if (_range_buffer) {
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index 6005843840..ec394cf58f 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -92,7 +92,9 @@ public:
 
 	void setGpsData(const gpsMessage &gps);
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	void setBaroData(const baroSample &baro_sample);
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_AIRSPEED)
 	void setAirspeedData(const airspeedSample &airspeed_sample);
@@ -422,8 +424,6 @@ protected:
 	uint64_t _time_last_mag_buffer_push{0};
 #endif // CONFIG_EKF2_MAGNETOMETER
 
-	RingBuffer<baroSample> *_baro_buffer{nullptr};
-
 #if defined(CONFIG_EKF2_AIRSPEED)
 	RingBuffer<airspeedSample> *_airspeed_buffer{nullptr};
 #endif // CONFIG_EKF2_AIRSPEED
@@ -438,7 +438,11 @@ protected:
 	RingBuffer<systemFlagUpdate> *_system_flag_buffer{nullptr};
 
 	uint64_t _time_last_gps_buffer_push{0};
+
+#if defined(CONFIG_EKF2_BAROMETER)
+	RingBuffer<baroSample> *_baro_buffer{nullptr};
 	uint64_t _time_last_baro_buffer_push{0};
+#endif // CONFIG_EKF2_BAROMETER
 
 	uint64_t _time_last_gnd_effect_on{0};
 
diff --git a/src/modules/ekf2/EKF/height_control.cpp b/src/modules/ekf2/EKF/height_control.cpp
index c9cfff5a3b..6f7a3305b2 100644
--- a/src/modules/ekf2/EKF/height_control.cpp
+++ b/src/modules/ekf2/EKF/height_control.cpp
@@ -41,10 +41,14 @@ void Ekf::controlHeightFusion(const imuSample &imu_delayed)
 {
 	checkVerticalAccelerationHealth(imu_delayed);
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	updateGroundEffect();
 
 	controlBaroHeightFusion();
+#endif // CONFIG_EKF2_BAROMETER
+
 	controlGnssHeightFusion(_gps_sample_delayed);
+
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	controlRangeHeightFusion();
 #endif // CONFIG_EKF2_RANGE_FINDER
@@ -175,9 +179,11 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
 		bool failed_lim{false};
 	} checks[6] {};
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	if (_control_status.flags.baro_hgt) {
 		checks[0] = {ReferenceType::PRESSURE, _aid_src_baro_hgt.innovation, _aid_src_baro_hgt.innovation_variance};
 	}
+#endif // CONFIG_EKF2_BAROMETER
 
 	if (_control_status.flags.gps_hgt) {
 		checks[1] = {ReferenceType::GNSS, _aid_src_gnss_hgt.innovation, _aid_src_gnss_hgt.innovation_variance};
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 81fe6974b1..508614618d 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -60,7 +60,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_params(_ekf.getParamHandle()),
 	_param_ekf2_predict_us(_params->filter_update_interval_us),
 	_param_ekf2_imu_ctrl(_params->imu_ctrl),
-	_param_ekf2_baro_delay(_params->baro_delay_ms),
 	_param_ekf2_gps_delay(_params->gps_delay_ms),
 #if defined(CONFIG_EKF2_AUXVEL)
 	_param_ekf2_avel_delay(_params->auxvel_delay_ms),
@@ -73,10 +72,22 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_gps_v_noise(_params->gps_vel_noise),
 	_param_ekf2_gps_p_noise(_params->gps_pos_noise),
 	_param_ekf2_noaid_noise(_params->pos_noaid_noise),
+#if defined(CONFIG_EKF2_BAROMETER)
+	_param_ekf2_baro_ctrl(_params->baro_ctrl),
+	_param_ekf2_baro_delay(_params->baro_delay_ms),
 	_param_ekf2_baro_noise(_params->baro_noise),
 	_param_ekf2_baro_gate(_params->baro_innov_gate),
 	_param_ekf2_gnd_eff_dz(_params->gnd_effect_deadzone),
 	_param_ekf2_gnd_max_hgt(_params->gnd_effect_max_hgt),
+# if defined(CONFIG_EKF2_BARO_COMPENSATION)
+	_param_ekf2_aspd_max(_params->max_correction_airspeed),
+	_param_ekf2_pcoef_xp(_params->static_pressure_coef_xp),
+	_param_ekf2_pcoef_xn(_params->static_pressure_coef_xn),
+	_param_ekf2_pcoef_yp(_params->static_pressure_coef_yp),
+	_param_ekf2_pcoef_yn(_params->static_pressure_coef_yn),
+	_param_ekf2_pcoef_z(_params->static_pressure_coef_z),
+# endif // CONFIG_EKF2_BARO_COMPENSATION
+#endif // CONFIG_EKF2_BAROMETER
 	_param_ekf2_gps_p_gate(_params->gps_pos_innov_gate),
 	_param_ekf2_gps_v_gate(_params->gps_vel_innov_gate),
 #if defined(CONFIG_EKF2_AIRSPEED)
@@ -117,7 +128,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_req_hdrift(_params->req_hdrift),
 	_param_ekf2_req_vdrift(_params->req_vdrift),
 	_param_ekf2_hgt_ref(_params->height_sensor_ref),
-	_param_ekf2_baro_ctrl(_params->baro_ctrl),
 	_param_ekf2_gps_ctrl(_params->gnss_ctrl),
 	_param_ekf2_noaid_tout(_params->valid_timeout_max),
 #if defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER)
@@ -191,14 +201,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_bcoef_y(_params->bcoef_y),
 	_param_ekf2_mcoef(_params->mcoef),
 #endif // CONFIG_EKF2_DRAG_FUSION
-#if defined(CONFIG_EKF2_BARO_COMPENSATION)
-	_param_ekf2_aspd_max(_params->max_correction_airspeed),
-	_param_ekf2_pcoef_xp(_params->static_pressure_coef_xp),
-	_param_ekf2_pcoef_xn(_params->static_pressure_coef_xn),
-	_param_ekf2_pcoef_yp(_params->static_pressure_coef_yp),
-	_param_ekf2_pcoef_yn(_params->static_pressure_coef_yn),
-	_param_ekf2_pcoef_z(_params->static_pressure_coef_z),
-#endif // CONFIG_EKF2_BARO_COMPENSATION
 	_param_ekf2_gsf_tas_default(_params->EKFGSF_tas_default)
 {
 	// advertise expected minimal topic set immediately to ensure logging
@@ -258,12 +260,16 @@ bool EKF2::multi_init(int imu, int mag)
 	_estimator_status_pub.advertise();
 	_yaw_est_pub.advertise();
 
+#if defined(CONFIG_EKF2_BAROMETER)
+
 	// baro advertise
 	if (_param_ekf2_baro_ctrl.get()) {
 		_estimator_aid_src_baro_hgt_pub.advertise();
 		_estimator_baro_bias_pub.advertise();
 	}
 
+#endif // CONFIG_EKF2_BAROMETER
+
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 
 	// EV advertise
@@ -440,6 +446,8 @@ void EKF2::Run()
 
 #endif // CONFIG_EKF2_AIRSPEED
 
+#if defined(CONFIG_EKF2_BAROMETER)
+
 		// if using baro ensure sensor interval minimum is sufficient to accommodate system averaged baro output
 		if (_params->baro_ctrl == 1) {
 			float sens_baro_rate = 0.f;
@@ -456,6 +464,8 @@ void EKF2::Run()
 			}
 		}
 
+#endif // CONFIG_EKF2_BAROMETER
+
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 
 		// if using mag ensure sensor interval minimum is sufficient to accommodate system averaged mag output
@@ -695,7 +705,9 @@ void EKF2::Run()
 #if defined(CONFIG_EKF2_AUXVEL)
 		UpdateAuxVelSample(ekf2_timestamps);
 #endif // CONFIG_EKF2_AUXVEL
+#if defined(CONFIG_EKF2_BAROMETER)
 		UpdateBaroSample(ekf2_timestamps);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 		UpdateExtVisionSample(ekf2_timestamps);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -723,7 +735,9 @@ void EKF2::Run()
 			PublishWindEstimate(now);
 
 			// publish status/logging messages
+#if defined(CONFIG_EKF2_BAROMETER)
 			PublishBaroBias(now);
+#endif // CONFIG_EKF2_BAROMETER
 			PublishGnssHgtBias(now);
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 			PublishRngHgtBias(now);
@@ -792,6 +806,8 @@ void EKF2::VerifyParams()
 				    "GPS lon/lat is required for altitude fusion", _param_ekf2_gps_ctrl.get());
 	}
 
+#if defined(CONFIG_EKF2_BAROMETER)
+
 	if ((_param_ekf2_hgt_ref.get() == HeightSensor::BARO) && (_param_ekf2_baro_ctrl.get() == 0)) {
 		_param_ekf2_baro_ctrl.set(1);
 		_param_ekf2_baro_ctrl.commit();
@@ -803,6 +819,8 @@ void EKF2::VerifyParams()
 				    "Baro enabled by EKF2_HGT_REF", _param_ekf2_baro_ctrl.get());
 	}
 
+#endif // CONFIG_EKF2_BAROMETER
+
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 
 	if ((_param_ekf2_hgt_ref.get() == HeightSensor::RANGE) && (_param_ekf2_rng_ctrl.get() == RngCtrl::DISABLED)) {
@@ -979,8 +997,10 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
 	// sideslip
 	PublishAidSourceStatus(_ekf.aid_src_sideslip(), _status_sideslip_pub_last, _estimator_aid_src_sideslip_pub);
 #endif // CONFIG_EKF2_SIDESLIP
+#if defined(CONFIG_EKF2_BAROMETER)
 	// baro height
 	PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub);
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	// RNG height
@@ -1064,6 +1084,7 @@ void EKF2::PublishAttitude(const hrt_abstime &timestamp)
 	}
 }
 
+#if defined(CONFIG_EKF2_BAROMETER)
 void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
 {
 	if (_ekf.aid_src_baro_hgt().timestamp_sample != 0) {
@@ -1077,6 +1098,7 @@ void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
 		}
 	}
 }
+#endif // CONFIG_EKF2_BAROMETER
 
 void EKF2::PublishGnssHgtBias(const hrt_abstime &timestamp)
 {
@@ -1326,7 +1348,9 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp)
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	_ekf.getEvVelPosInnov(innovations.ev_hvel, innovations.ev_vvel, innovations.ev_hpos, innovations.ev_vpos);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
+#if defined(CONFIG_EKF2_BAROMETER)
 	_ekf.getBaroHgtInnov(innovations.baro_vpos);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	_ekf.getRngHgtInnov(innovations.rng_vpos);
 #endif // CONFIG_EKF2_RANGE_FINDER
@@ -1391,8 +1415,9 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp)
 		_preflt_checker.setUsingEvVelAiding(_ekf.control_status_flags().ev_vel);
 		_preflt_checker.setUsingEvHgtAiding(_ekf.control_status_flags().ev_hgt);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
-
+#if defined(CONFIG_EKF2_BAROMETER)
 		_preflt_checker.setUsingBaroHgtAiding(_ekf.control_status_flags().baro_hgt);
+#endif // CONFIG_EKF2_BAROMETER
 		_preflt_checker.setUsingGpsHgtAiding(_ekf.control_status_flags().gps_hgt);
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 		_preflt_checker.setUsingRngHgtAiding(_ekf.control_status_flags().rng_hgt);
@@ -1414,7 +1439,9 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime &timestamp)
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	_ekf.getEvVelPosInnovRatio(test_ratios.ev_hvel[0], test_ratios.ev_vvel, test_ratios.ev_hpos[0], test_ratios.ev_vpos);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
+#if defined(CONFIG_EKF2_BAROMETER)
 	_ekf.getBaroHgtInnovRatio(test_ratios.baro_vpos);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	_ekf.getRngHgtInnovRatio(test_ratios.rng_vpos);
 	_ekf.getHaglRateInnovRatio(test_ratios.hagl_rate);
@@ -1466,7 +1493,9 @@ void EKF2::PublishInnovationVariances(const hrt_abstime &timestamp)
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	_ekf.getEvVelPosInnovVar(variances.ev_hvel, variances.ev_vvel, variances.ev_hpos, variances.ev_vpos);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
+#if defined(CONFIG_EKF2_BAROMETER)
 	_ekf.getBaroHgtInnovVar(variances.baro_vpos);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	_ekf.getRngHgtInnovVar(variances.rng_vpos);
 	_ekf.getHaglRateInnovVar(variances.hagl_rate);
@@ -1779,7 +1808,9 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	status.pre_flt_fail_mag_field_disturbed = _ekf.control_status_flags().mag_field_disturbed;
 
 	status.accel_device_id = _device_id_accel;
+#if defined(CONFIG_EKF2_BAROMETER)
 	status.baro_device_id = _device_id_baro;
+#endif // CONFIG_EKF2_BAROMETER
 	status.gyro_device_id = _device_id_gyro;
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -2097,6 +2128,7 @@ void EKF2::UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps)
 }
 #endif // CONFIG_EKF2_AUXVEL
 
+#if defined(CONFIG_EKF2_BAROMETER)
 void EKF2::UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps)
 {
 	// EKF baro sample
@@ -2140,6 +2172,7 @@ void EKF2::UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps)
 				(int64_t)ekf2_timestamps.timestamp / 100);
 	}
 }
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps)
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index 45ed80262d..8eea2e9dec 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -77,7 +77,6 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/sensor_selection.h>
-#include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -99,6 +98,10 @@
 # include <uORB/topics/landing_target_pose.h>
 #endif // CONFIG_EKF2_AUXVEL
 
+#if defined(CONFIG_EKF2_BAROMETER)
+# include <uORB/topics/vehicle_air_data.h>
+#endif // CONFIG_EKF2_BAROMETER
+
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 # include <uORB/topics/vehicle_magnetometer.h>
 #endif // CONFIG_EKF2_MAGNETOMETER
@@ -170,7 +173,10 @@ private:
 
 	void PublishAidSourceStatus(const hrt_abstime &timestamp);
 	void PublishAttitude(const hrt_abstime &timestamp);
+
+#if defined(CONFIG_EKF2_BAROMETER)
 	void PublishBaroBias(const hrt_abstime &timestamp);
+#endif // CONFIG_EKF2_BAROMETER
 	void PublishGnssHgtBias(const hrt_abstime &timestamp);
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
@@ -207,7 +213,9 @@ private:
 #if defined(CONFIG_EKF2_AUXVEL)
 	void UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps);
 #endif // CONFIG_EKF2_AUXVEL
+#if defined(CONFIG_EKF2_BAROMETER)
 	void UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	bool UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps);
 #endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -276,7 +284,6 @@ private:
 	perf_counter_t _ecl_ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL update")};
 	perf_counter_t _ecl_ekf_update_full_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL full update")};
 	perf_counter_t _msg_missed_imu_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")};
-	perf_counter_t _msg_missed_air_data_perf{nullptr};
 	perf_counter_t _msg_missed_gps_perf{nullptr};
 	perf_counter_t _msg_missed_odometry_perf{nullptr};
 
@@ -289,11 +296,9 @@ private:
 	float   _wgs84_hgt_offset = 0;  ///< height offset between AMSL and WGS84
 
 	uint8_t _accel_calibration_count{0};
-	uint8_t _baro_calibration_count{0};
 	uint8_t _gyro_calibration_count{0};
 
 	uint32_t _device_id_accel{0};
-	uint32_t _device_id_baro{0};
 	uint32_t _device_id_gyro{0};
 
 	Vector3f _last_accel_bias_published{};
@@ -302,8 +307,6 @@ private:
 	hrt_abstime _last_sensor_bias_published{0};
 	hrt_abstime _last_gps_status_published{0};
 
-	hrt_abstime _status_baro_hgt_pub_last{0};
-
 	hrt_abstime _status_fake_hgt_pub_last{0};
 	hrt_abstime _status_fake_pos_pub_last{0};
 
@@ -386,7 +389,21 @@ private:
 	perf_counter_t _msg_missed_optical_flow_perf{nullptr};
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
+#if defined(CONFIG_EKF2_BAROMETER)
+	perf_counter_t _msg_missed_air_data_perf {nullptr};
+
+	uint8_t _baro_calibration_count {0};
+	uint32_t _device_id_baro{0};
+	hrt_abstime _status_baro_hgt_pub_last{0};
+
 	float _last_baro_bias_published{};
+
+	uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
+
+	uORB::PublicationMulti<estimator_bias_s> _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
+	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_baro_hgt_pub {ORB_ID(estimator_aid_src_baro_hgt)};
+#endif // CONFIG_EKF2_BAROMETER
+
 	float _last_gnss_hgt_bias_published{};
 
 #if defined(CONFIG_EKF2_AIRSPEED)
@@ -412,7 +429,6 @@ private:
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
-	uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
 	uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
 	uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
@@ -452,7 +468,6 @@ private:
 	uint32_t _filter_information_event_changes{0};
 
 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
-	uORB::PublicationMulti<estimator_bias_s>             _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
 	uORB::PublicationMulti<estimator_bias_s>             _estimator_gnss_hgt_bias_pub{ORB_ID(estimator_gnss_hgt_bias)};
 	uORB::PublicationMultiData<estimator_event_flags_s>  _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
 	uORB::PublicationMulti<estimator_gps_status_s>       _estimator_gps_status_pub{ORB_ID(estimator_gps_status)};
@@ -465,8 +480,6 @@ private:
 	uORB::PublicationMulti<estimator_status_s>           _estimator_status_pub{ORB_ID(estimator_status)};
 	uORB::PublicationMulti<yaw_estimator_status_s>       _yaw_est_pub{ORB_ID(yaw_estimator_status)};
 
-	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_baro_hgt_pub {ORB_ID(estimator_aid_src_baro_hgt)};
-
 	uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_fake_hgt_pub{ORB_ID(estimator_aid_src_fake_hgt)};
 	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
 
@@ -497,8 +510,6 @@ private:
 		(ParamExtInt<px4::params::EKF2_PREDICT_US>) _param_ekf2_predict_us,
 		(ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl,
 
-		(ParamExtFloat<px4::params::EKF2_BARO_DELAY>)
-		_param_ekf2_baro_delay,	///< barometer height measurement delay relative to the IMU (mSec)
 		(ParamExtFloat<px4::params::EKF2_GPS_DELAY>)
 		_param_ekf2_gps_delay,	///< GPS measurement delay relative to the IMU (mSec)
 
@@ -526,14 +537,26 @@ private:
 		_param_ekf2_gps_p_noise,	///< minimum allowed observation noise for gps position fusion (m)
 		(ParamExtFloat<px4::params::EKF2_NOAID_NOISE>)
 		_param_ekf2_noaid_noise,	///< observation noise for non-aiding position fusion (m)
-		(ParamExtFloat<px4::params::EKF2_BARO_NOISE>)
-		_param_ekf2_baro_noise,	///< observation noise for barometric height fusion (m)
-		(ParamExtFloat<px4::params::EKF2_BARO_GATE>)
-		_param_ekf2_baro_gate,	///< barometric height innovation consistency gate size (STD)
-		(ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>)
-		_param_ekf2_gnd_eff_dz,	///< barometric deadzone range for negative innovations (m)
-		(ParamExtFloat<px4::params::EKF2_GND_MAX_HGT>)
-		_param_ekf2_gnd_max_hgt,	///< maximum height above the ground level for expected negative baro innovations (m)
+
+#if defined(CONFIG_EKF2_BAROMETER)
+		(ParamExtInt<px4::params::EKF2_BARO_CTRL>) _param_ekf2_baro_ctrl,///< barometer control selection
+		(ParamExtFloat<px4::params::EKF2_BARO_DELAY>) _param_ekf2_baro_delay,
+		(ParamExtFloat<px4::params::EKF2_BARO_NOISE>) _param_ekf2_baro_noise,
+		(ParamExtFloat<px4::params::EKF2_BARO_GATE>) _param_ekf2_baro_gate,
+		(ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>) _param_ekf2_gnd_eff_dz,
+		(ParamExtFloat<px4::params::EKF2_GND_MAX_HGT>) _param_ekf2_gnd_max_hgt,
+
+# if defined(CONFIG_EKF2_BARO_COMPENSATION)
+		// Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth
+		(ParamExtFloat<px4::params::EKF2_ASPD_MAX>) _param_ekf2_aspd_max,
+		(ParamExtFloat<px4::params::EKF2_PCOEF_XP>) _param_ekf2_pcoef_xp,
+		(ParamExtFloat<px4::params::EKF2_PCOEF_XN>) _param_ekf2_pcoef_xn,
+		(ParamExtFloat<px4::params::EKF2_PCOEF_YP>) _param_ekf2_pcoef_yp,
+		(ParamExtFloat<px4::params::EKF2_PCOEF_YN>) _param_ekf2_pcoef_yn,
+		(ParamExtFloat<px4::params::EKF2_PCOEF_Z>) _param_ekf2_pcoef_z,
+# endif // CONFIG_EKF2_BARO_COMPENSATION
+#endif // CONFIG_EKF2_BAROMETER
+
 		(ParamExtFloat<px4::params::EKF2_GPS_P_GATE>)
 		_param_ekf2_gps_p_gate,	///< GPS horizontal position innovation consistency gate size (STD)
 		(ParamExtFloat<px4::params::EKF2_GPS_V_GATE>)
@@ -596,7 +619,6 @@ private:
 		(ParamInt<px4::params::EKF2_AID_MASK>)
 		_param_ekf2_aid_mask,		///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
 		(ParamExtInt<px4::params::EKF2_HGT_REF>) _param_ekf2_hgt_ref,    ///< selects the primary source for height data
-		(ParamExtInt<px4::params::EKF2_BARO_CTRL>) _param_ekf2_baro_ctrl,///< barometer control selection
 		(ParamExtInt<px4::params::EKF2_GPS_CTRL>) _param_ekf2_gps_ctrl,  ///< GPS control selection
 
 		(ParamExtInt<px4::params::EKF2_NOAID_TOUT>)
@@ -725,23 +747,6 @@ private:
 		(ParamExtFloat<px4::params::EKF2_MCOEF>) _param_ekf2_mcoef,		///< propeller momentum drag coefficient (1/s)
 #endif // CONFIG_EKF2_DRAG_FUSION
 
-#if defined(CONFIG_EKF2_BARO_COMPENSATION)
-		// Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth
-		// Coef = Ps_error / Pdynamic, where Pdynamic = 1/2 * density * TAS**2
-		(ParamExtFloat<px4::params::EKF2_ASPD_MAX>)
-		_param_ekf2_aspd_max,		///< upper limit on airspeed used for correction  (m/s**2)
-		(ParamExtFloat<px4::params::EKF2_PCOEF_XP>)
-		_param_ekf2_pcoef_xp,	///< static pressure position error coefficient along the positive X body axis
-		(ParamExtFloat<px4::params::EKF2_PCOEF_XN>)
-		_param_ekf2_pcoef_xn,	///< static pressure position error coefficient along the negative X body axis
-		(ParamExtFloat<px4::params::EKF2_PCOEF_YP>)
-		_param_ekf2_pcoef_yp,	///< static pressure position error coefficient along the positive Y body axis
-		(ParamExtFloat<px4::params::EKF2_PCOEF_YN>)
-		_param_ekf2_pcoef_yn,	///< static pressure position error coefficient along the negative Y body axis
-		(ParamExtFloat<px4::params::EKF2_PCOEF_Z>)
-		_param_ekf2_pcoef_z,	///< static pressure position error coefficient along the Z body axis
-#endif // CONFIG_EKF2_BARO_COMPENSATION
-
 		(ParamFloat<px4::params::EKF2_REQ_GPS_H>) _param_ekf2_req_gps_h, ///< Required GPS health time
 
 		// Used by EKF-GSF experimental yaw estimator
diff --git a/src/modules/ekf2/Kconfig b/src/modules/ekf2/Kconfig
index 515c958367..a89b68b838 100644
--- a/src/modules/ekf2/Kconfig
+++ b/src/modules/ekf2/Kconfig
@@ -28,10 +28,18 @@ depends on MODULES_EKF2
 	---help---
 		EKF2 auxiliary velocity fusion support.
 
+menuconfig EKF2_BAROMETER
+depends on MODULES_EKF2
+	bool "barometer support"
+	default y
+	---help---
+		EKF2 barometer support.
+
 menuconfig EKF2_BARO_COMPENSATION
 depends on MODULES_EKF2
         bool "barometer compensation support"
         default y
+	depends on EKF2_BAROMETER
 	---help---
 		EKF2 pressure compensation support.