diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 37730f1c31..160e9d85ba 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -341,6 +341,7 @@ void Sub::update_altitude()
 
 bool Sub::control_check_barometer()
 {
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor
         gcs().send_text(MAV_SEVERITY_WARNING, "Depth sensor is not connected.");
         return false;
@@ -348,6 +349,7 @@ bool Sub::control_check_barometer()
         gcs().send_text(MAV_SEVERITY_WARNING, "Depth sensor error.");
         return false;
     }
+#endif
     return true;
 }
 
diff --git a/ArduSub/control_althold.cpp b/ArduSub/control_althold.cpp
index dcaafc3da7..c97e829408 100644
--- a/ArduSub/control_althold.cpp
+++ b/ArduSub/control_althold.cpp
@@ -8,11 +8,9 @@
 // althold_init - initialise althold controller
 bool Sub::althold_init()
 {
-#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     if(!control_check_barometer()) {
         return false;
     }
-#endif
 
     // initialize vertical speeds and leash lengths
     // sets the maximum speed up and down returned by position controller
diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp
index f156e31fca..fa46c3e809 100644
--- a/ArduSub/control_surface.cpp
+++ b/ArduSub/control_surface.cpp
@@ -3,11 +3,9 @@
 
 bool Sub::surface_init()
 {
-#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     if(!control_check_barometer()) {
         return false;
     }
-#endif
 
     // initialize vertical speeds and leash lengths
     pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());