ekf2: add kconfig option to enable/disable baro compensation

src/modules/ekf2/EKF/common.h

@@ -438,6 +438,7 @@ struct parameters {
 
 	int32_t valid_timeout_max{5'000'000};     ///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec)
 
+#if defined(CONFIG_EKF2_BARO_COMPENSATION)
 	// static barometer pressure position error coefficient along body axes
 	float static_pressure_coef_xp{0.0f};    // (-)
 	float static_pressure_coef_xn{0.0f};    // (-)
@@ -447,6 +448,7 @@ struct parameters {
 
 	// upper limit on airspeed used for correction  (m/s**2)
 	float max_correction_airspeed {20.0f};
+#endif // CONFIG_EKF2_BARO_COMPENSATION
 
 #if defined(CONFIG_EKF2_DRAG_FUSION)
 	// multi-rotor drag specific force fusion

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -231,6 +231,7 @@ void Ekf::constrainStates()
 
 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
@@ -258,6 +259,7 @@ 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;