When I have inav plug in to my quad and connect a battery to the quad the BARO lights up on iNAV screen but when I unplug the battery it turns red. Sometimes it recognizes it and then next time it doesn’t would it be safe to say that the BARO is broken and FC is junk if I want altitude?

What FC are you using?

Usually the barometer onboard an FC is powered up via usb.

Unless you are using an external barometer it will always power up with a USB cable connected to the FC.

Try re-flashing the INAV firmware with the "Full chip erase" option switched on. If the issue still persists then try flashing Betaflight firmware to the FC instead as a test to see if the issue also happens under that as well which will help to determine if the problem is a firmware bug (with INAV) or a hardware issue.

I’m using a Matek F722 SE fc
I think is does power up with USB but not when I power it up with lipo.
I will try re-flashing the iNAV firmware and try betaflight firmware and see what happens.
Thanks
Jim

I plug usb into quad and it highlighted the BARO but then later it turned red now I can’t get it to turn blue at all now so I think the FC is junk now and I need to replace it. I even re-flashed firmware with same and newer version but the BARO still stays red when I plug in usb.