diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 24a198f0a5..23bc784daf 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1015,6 +1015,9 @@ void AttitudePositionEstimatorEKF::publishGlobalPosition()
 		_global_pos.terrain_alt_valid = false;
 	}
 
+	/* baro altitude */
+	_global_pos.pressure_alt = _baro_alt_filt;
+
 	_global_pos.yaw = _local_pos.yaw;
 
 	const float dtLastGoodGPS = static_cast<float>(hrt_absolute_time() - _previousGPSTimestamp) / 1e6f;
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index d1262f9177..8b457a68db 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -711,6 +711,7 @@ void BlockLocalPositionEstimator::publishGlobalPos()
 		_pub_gpos.get().terrain_alt = 0;
 		_pub_gpos.get().terrain_alt_valid = false;
 		_pub_gpos.get().dead_reckoning = !_canEstimateXY && !_xyTimeout;
+		_pub_gpos.get().pressure_alt = _sub_sensor.get().baro_alt_meter[0];
 		_pub_gpos.update();
 	}
 }
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
index 72b250ebe9..90bf30c606 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
@@ -1336,6 +1336,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					global_pos.terrain_alt_valid = false;
 				}
 
+				global_pos.pressure_alt = sensor.baro_alt_meter[0];
+
 				if (vehicle_global_position_pub == NULL) {
 					vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);