diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index a49fed225b..1e103e9e71 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -168,19 +168,13 @@ void Sub::Log_Write_Data(LogDataID id, float value)
     }
 }
 
-// logs when baro or compass becomes unhealthy
+// logs when compass becomes unhealthy
 void Sub::Log_Sensor_Health()
 {
     if (!should_log(MASK_LOG_ANY)) {
         return;
     }
 
-    // check baro
-    if (sensor_health.baro != barometer.healthy()) {
-        sensor_health.baro = barometer.healthy();
-        AP::logger().Write_Error(LogErrorSubsystem::BARO, (sensor_health.baro ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
-    }
-
     // check compass
     if (sensor_health.compass != compass.healthy()) {
         sensor_health.compass = compass.healthy();
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index c55a6cd1a3..fbc32e7e1a 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -40,7 +40,6 @@ Sub::Sub()
           param_loader(var_info)
 {
     // init sensor error logging flags
-    sensor_health.baro = true;
     sensor_health.compass = true;
 
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 028a97c4f7..91745bfad9 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -233,7 +233,6 @@ private:
 
     // sensor health for logging
     struct {
-        uint8_t baro        : 1;    // true if any single baro is healthy
         uint8_t depth       : 1;    // true if depth sensor is healthy
         uint8_t compass     : 1;    // true if compass is healthy
     } sensor_health;