diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 2a1057d4f5..9b3ad9d6de 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -118,9 +118,9 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rng};
     NavEKF3 EKF3{&ahrs, barometer, rng};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
 #else
-    AP_AHRS_DCM ahrs{ins, barometer, gps};
+    AP_AHRS_DCM ahrs{ins, barometer};
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL