diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 70aca6b83f..ef37ba7800 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -168,9 +168,9 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rangefinder};
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    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
 
     // Arming/Disarming management class