diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 345b464504..b3d355a031 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -28,7 +28,6 @@ Copter::Copter(void) :
     ins_sample_rate(AP_InertialSensor::RATE_400HZ),
     flight_modes(&g.flight_mode1),
     sonar_enabled(true),
-    ahrs(ins, barometer, gps, sonar),
     mission(ahrs, 
             FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
             FUNCTOR_BIND_MEMBER(&Copter::verify_command, bool, const AP_Mission::Mission_Command &),
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 9f733a9ceb..072e1bd58e 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -177,7 +177,8 @@ private:
 #endif
 
     // Inertial Navigation EKF
-    AP_AHRS_NavEKF ahrs;
+    NavEKF EKF{&ahrs, barometer, sonar};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL sitl;
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index a1b79f276d..bf061bd2a5 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1004,7 +1004,7 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
 #if AP_AHRS_NAVEKF_AVAILABLE
     // @Group: EKF_
     // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
-    GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF),
+    GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
 #endif
 
     // @Group: MIS_