From ceb64fb7d961ea8e366d17b0cedd0dd65f3c29c3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Mar 2018 21:13:44 +1100
Subject: [PATCH] Rover: use ins singleton

---
 APMrover2/APMrover2.cpp | 4 ++--
 APMrover2/Rover.h       | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 7d6cb20fa7..c0aa568588 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -172,7 +172,7 @@ void Rover::ahrs_update()
     }
 
     if (should_log(MASK_LOG_IMU)) {
-        DataFlash.Log_Write_IMU(ins);
+        DataFlash.Log_Write_IMU();
     }
 }
 
@@ -243,7 +243,7 @@ void Rover::update_logging2(void)
     }
 
     if (should_log(MASK_LOG_IMU)) {
-        DataFlash.Log_Write_Vibration(ins);
+        DataFlash.Log_Write_Vibration();
     }
 }
 
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index c0e49d7dbf..de31e13cde 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -171,9 +171,9 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, rangefinder};
     NavEKF3 EKF3{&ahrs, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs{EKF2, EKF3};
 #else
-    AP_AHRS_DCM ahrs{ins};
+    AP_AHRS_DCM ahrs;
 #endif
 
     // Arming/Disarming management class