ekf: always publish baro and gnss bias even if zero (#25385)

* ekf: always publish baro and gnss bias even if zero

* [SQUASH] ekf2: simplify hgt bias publish

---------

Co-authored-by: Daniel Agar <daniel@agar.ca>

Author: dakejahl

src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp

@@ -45,6 +45,11 @@ 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;

src/modules/ekf2/EKF2.cpp

@@ -1041,7 +1041,7 @@ void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
 	if (_ekf.aid_src_baro_hgt().timestamp_sample != 0) {
 		const BiasEstimator::status &status = _ekf.getBaroBiasEstimatorStatus();
 
-		if (fabsf(status.bias - _last_baro_bias_published) > 0.001f) {
+		if (fabsf(status.bias - _last_baro_bias_published) > 1e-6f) {
 			_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.aid_src_baro_hgt().timestamp_sample, timestamp,
 							 _device_id_baro));
 
@@ -1057,7 +1057,7 @@ void EKF2::PublishGnssHgtBias(const hrt_abstime &timestamp)
 	if (_ekf.get_gps_sample_delayed().time_us != 0) {
 		const BiasEstimator::status &status = _ekf.getGpsHgtBiasEstimatorStatus();
 
-		if (fabsf(status.bias - _last_gnss_hgt_bias_published) > 0.001f) {
+		if (fabsf(status.bias - _last_gnss_hgt_bias_published) > 1e-6f) {
 			_estimator_gnss_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_gps_sample_delayed().time_us, timestamp));
 
 			_last_gnss_hgt_bias_published = status.bias;