diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 7e157971d2..d62133cce6 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -334,11 +334,11 @@ const AP_Param::Info Rover::var_info[] = {
 #if AP_AHRS_NAVEKF_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
-    GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
+    GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
 
     // @Group: EK3_
     // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
-    GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
+    GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
 #endif
 
     // @Group: RPM
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index 88b945e775..37fc5e1d1e 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -79,7 +79,7 @@ void Rover::update_wheel_encoder()
      * timeStamp_ms is the time when the rotation was last measured (msec)
      * posOffset is the XYZ body frame position of the wheel hub (m)
      */
-    EKF3.writeWheelOdom(delta_angle,
+    ahrs.EKF3.writeWheelOdom(delta_angle,
                         delta_time,
                         wheel_encoder_last_reading_ms[wheel_encoder_last_index_sent],
                         g2.wheel_encoder.get_pos_offset(wheel_encoder_last_index_sent),