diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 8124f95a94..c1275f661f 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -90,15 +90,6 @@ private:
 
     AP_Logger logger;
 
-// Inertial Navigation EKF
-#if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs, rangefinder};
-    NavEKF3 EKF3{&ahrs, rangefinder};
-    AP_AHRS_NavEKF ahrs{EKF2, EKF3};
-#else
-    AP_AHRS_DCM ahrs;
-#endif
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;
 #endif