From f161a32c55b5a979a02100433eb7339749dc6a77 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 11 Aug 2025 21:05:00 -0400
Subject: [PATCH] ekf2: revert minor baro ctrl check change from 078e4c9 (ekf:
 always publish baro and gnss bias even if zero (#25385))

---
 .../ekf2/EKF/aid_sources/barometer/baro_height_control.cpp   | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
index 739342edab..b7b45d5ced 100644
--- a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
@@ -45,11 +45,6 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 	auto &aid_src = _aid_src_baro_hgt;
 	HeightBiasEstimator &bias_est = _baro_b_est;
 
-	if (_params.ekf2_baro_ctrl == 0) {
-		stopBaroHgtFusion();
-		return;
-	}
-
 	bias_est.predict(_dt_ekf_avg);
 
 	baroSample baro_sample;