diff --git a/ArduSub/AP_Arming_Sub.h b/ArduSub/AP_Arming_Sub.h
index d4721eb494..b00fd6b328 100644
--- a/ArduSub/AP_Arming_Sub.h
+++ b/ArduSub/AP_Arming_Sub.h
@@ -4,9 +4,9 @@
 
 class AP_Arming_Sub : public AP_Arming {
 public:
-    AP_Arming_Sub(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &compass,
+    AP_Arming_Sub(const AP_AHRS &ahrs_ref, Compass &compass,
                   const AP_BattMonitor &battery)
-        : AP_Arming(ahrs_ref, baro, compass, battery)
+        : AP_Arming(ahrs_ref, compass, battery)
     {
     }
 
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 37187dad3e..eae8e000f5 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -544,13 +544,13 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
 
     case MSG_RAW_IMU2:
         CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
-        send_scaled_pressure(sub.barometer);
+        send_scaled_pressure();
         sub.send_temperature(chan);
         break;
 
     case MSG_RAW_IMU3:
         CHECK_PAYLOAD_SIZE(SENSOR_OFFSETS);
-        send_sensor_offsets(sub.ins, sub.compass, sub.barometer);
+        send_sensor_offsets(sub.ins, sub.compass);
         break;
 
     case MSG_RANGEFINDER:
diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index ef9dac4b43..e0517a429f 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -318,7 +318,7 @@ void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
 void Sub::Log_Write_Baro(void)
 {
     if (!ahrs.have_ekf_logging()) {
-        DataFlash.Log_Write_Baro(barometer);
+        DataFlash.Log_Write_Baro();
     }
 }
 
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 846f0583da..6fc3a16889 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -186,9 +186,9 @@ private:
 #endif
 
     // Inertial Navigation EKF
-    NavEKF2 EKF2{&ahrs, barometer, rangefinder};
-    NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    NavEKF2 EKF2{&ahrs, rangefinder};
+    NavEKF3 EKF3{&ahrs, rangefinder};
+    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;
@@ -330,7 +330,7 @@ private:
     // Battery Sensors
     AP_BattMonitor battery{MASK_LOG_CURRENT};
 
-    AP_Arming_Sub arming{ahrs, barometer, compass, battery};
+    AP_Arming_Sub arming{ahrs, compass, battery};
 
     // Altitude
     // The cm/s we are moving up or down based on filtered data - Positive = UP