ekf2: move baro compensation to delayed time horizon and add validity check

- this removes an unnecessary virtual call and simplifies things a bit

Co-authored-by: bresch <brescianimathieu@gmail.com>

src/modules/ekf2/EKF/estimator_interface.h

@@ -396,8 +396,6 @@ protected:
 	// this is the previous status of the filter control modes - used to detect mode transitions
 	filter_control_status_u _control_status_prev{};
 
-	virtual float compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const = 0;
-
 	// these are used to record single frame events for external monitoring and should NOT be used for
 	// state logic becasue they will be cleared externally after being read.
 	warning_event_status_u _warning_events{};