diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 8a5f45d5b0..c71cf2afe1 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -183,9 +183,7 @@ protected:
 
     // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs};
-    NavEKF3 EKF3{&ahrs};
-    AP_AHRS_NavEKF ahrs{EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs;
 #else
     AP_AHRS_DCM ahrs;
 #endif