The lawsuit for copyright infringement was brought by Michael Skidmore, a trustee for Randy Wolfe, also known as Randy California, who was Spirit’s guitarist and the composer of Taurus, who died in 1997.
Wolfe had reportedly considered a copyright lawsuit as far back as the 1980s, but his family said he could never afford it. In a 1991 interview, Wolfe said that Led Zeppelin “used to come up and sit in the front row of all [Spirit’s] shows and became friends … and if they wanted to use [Taurus], that’s fine,” adding: “I’ll let [Led Zeppelin] have the beginning of Taurus for their song without a lawsuit.”
The case was first filed in 2014, in an attempt to block the re-release of Stairway to Heaven.
So... yes. Exactly.