diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index 89f04c152c..86c0b2507a 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -109,7 +109,7 @@ void Tracker::one_second_loop()
 void Tracker::ten_hz_logging_loop()
 {
     if (should_log(MASK_LOG_IMU)) {
-        DataFlash.Log_Write_IMU(ins);
+        DataFlash.Log_Write_IMU();
     }
     if (should_log(MASK_LOG_ATTITUDE)) {
         Log_Write_Attitude();
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 3923b911b4..89a63db8b1 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -118,9 +118,9 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, rng};
     NavEKF3 EKF3{&ahrs, rng};
-    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs{EKF2, EKF3};
 #else
-    AP_AHRS_DCM ahrs{ins};
+    AP_AHRS_DCM ahrs;
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL