From 6eae9fb37107ba55d52ab7e3189b1c403cea45a6 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 17 Oct 2023 13:33:06 -0400
Subject: [PATCH] ekf2: fix barometer kconfig

---
 src/modules/ekf2/EKF/covariance.cpp          | 5 +++++
 src/modules/ekf2/EKF/estimator_interface.cpp | 2 ++
 src/modules/ekf2/EKF2.cpp                    | 4 ++++
 3 files changed, 11 insertions(+)

diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index 0692c9d4695f..28c5815f1819 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -65,7 +65,12 @@ void Ekf::initialiseCovariance()
 	P.uncorrelateCovarianceSetVariance<State::vel.dof>(State::vel.idx, Vector3f(vel_var, vel_var, sq(1.5f) * vel_var));
 
 	// position
+#if defined(CONFIG_EKF2_BAROMETER)
 	float z_pos_var = sq(fmaxf(_params.baro_noise, 0.01f));
+#else
+	float z_pos_var = sq(1.f);
+#endif // CONFIG_EKF2_BAROMETER
+
 #if defined(CONFIG_EKF2_GNSS)
 	const float xy_pos_var = sq(fmaxf(_params.gps_pos_noise, 0.01f));
 
diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index bf97dc2a75b3..850e409bdb18 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -563,10 +563,12 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 	max_time_delay_ms = math::max(_params.auxvel_delay_ms, max_time_delay_ms);
 #endif // CONFIG_EKF2_AUXVEL
 
+#if defined(CONFIG_EKF2_BAROMETER)
 	// using baro
 	if (_params.baro_ctrl > 0) {
 		max_time_delay_ms = math::max(_params.baro_delay_ms, max_time_delay_ms);
 	}
+#endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_AIRSPEED)
 	// using airspeed
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 291e9aa64d28..0b85928e0bee 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -229,7 +229,9 @@ EKF2::~EKF2()
 	perf_free(_ecl_ekf_update_perf);
 	perf_free(_ecl_ekf_update_full_perf);
 	perf_free(_msg_missed_imu_perf);
+#if defined(CONFIG_EKF2_BAROMETER)
 	perf_free(_msg_missed_air_data_perf);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_AIRSPEED)
 	perf_free(_msg_missed_airspeed_perf);
 #endif // CONFIG_EKF2_AIRSPEED
@@ -398,7 +400,9 @@ int EKF2::print_status()
 	perf_print_counter(_ecl_ekf_update_perf);
 	perf_print_counter(_ecl_ekf_update_full_perf);
 	perf_print_counter(_msg_missed_imu_perf);
+#if defined(CONFIG_EKF2_BAROMETER)
 	perf_print_counter(_msg_missed_air_data_perf);
+#endif // CONFIG_EKF2_BAROMETER
 #if defined(CONFIG_EKF2_AIRSPEED)
 	perf_print_counter(_msg_missed_airspeed_perf);
 #endif // CONFIG_EKF2_AIRSPEED