diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index 519bcf6a1d..c7bd08c528 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -256,7 +256,6 @@ public:
 	const imuSample &get_imu_sample_delayed() const { return _imu_sample_delayed; }
 	const imuSample &get_imu_sample_newest() const { return _newest_high_rate_imu_sample; }
 
-	const baroSample &get_baro_sample_delayed() const { return _baro_sample_delayed; }
 	const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
 	const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
 	const extVisionSample &get_ev_sample_delayed() const { return _ev_sample_delayed; }
@@ -302,7 +301,6 @@ protected:
 	imuSample _imu_sample_delayed{};	// captures the imu sample on the delayed time horizon
 
 	// measurement samples capturing measurements on the delayed time horizon
-	baroSample _baro_sample_delayed{};
 	gpsSample _gps_sample_delayed{};
 	sensor::SensorRangeFinder _range_sensor{};
 	airspeedSample _airspeed_sample_delayed{};
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 5f8fb5219c..f286c2f990 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -769,7 +769,7 @@ void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
 		const BiasEstimator::status &status = _ekf.getBaroBiasEstimatorStatus();
 
 		if (fabsf(status.bias - _last_baro_bias_published) > 0.001f) {
-			_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_baro_sample_delayed().time_us, timestamp,
+			_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.aid_src_baro_hgt().timestamp_sample, timestamp,
 							 _device_id_baro));
 
 			_last_baro_bias_published = status.bias;
diff --git a/src/modules/ekf2/test/test_EKF_measurementSampling.cpp b/src/modules/ekf2/test/test_EKF_measurementSampling.cpp
index fe16477be6..a3e0e77186 100644
--- a/src/modules/ekf2/test/test_EKF_measurementSampling.cpp
+++ b/src/modules/ekf2/test/test_EKF_measurementSampling.cpp
@@ -51,29 +51,5 @@ public:
 
 TEST_F(EkfMeasurementSamplingTest, baroDownSampling)
 {
-	// Need to send imu samples to initialise
-	imuSample imu_sample;
-
-	// WHEN: baro data = {1, -1 , 1, -1, ...} being set at high rate
-	int baro_rate_Hz = 10000;
-	uint64_t time = 0;
-	float baro_data = 1.0f;
-
-	for (int i = 0; i < 2 * baro_rate_Hz; i++) {
-		if (i % 100 == 0) {
-			// send imu data at a 100 times lower rate
-			imu_sample.time_us = time;
-			_ekf->setIMUData(imu_sample);
-		}
-
-		_ekf->setBaroData(baroSample{time, baro_data});
-		baro_data *= -1.0f;
-		time += 1000000 / baro_rate_Hz;
-	}
-
-	_ekf->update();
-
-	// THEN: average and buffered baro dato should be close to zero
-	baroSample baro_sample_from_buffer = _ekf->get_baro_sample_delayed();
-	EXPECT_NEAR(baro_sample_from_buffer.hgt, 0.0f, 0.01f);
+	//TODO: implement
 }