From e74a8e28af7867aaed736e18689c96e376519a2b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 20 Jul 2021 22:16:33 +1000
Subject: [PATCH] ArduCopter: rename for AHRS restructuring

---
 ArduCopter/AP_Arming.cpp | 8 ++++----
 ArduCopter/Copter.h      | 2 +-
 ArduCopter/Log.cpp       | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index b1632e1c1d..fda9ab04f7 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -512,7 +512,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     bool mode_requires_gps = copter.flightmode->requires_GPS();
 
     // always check if inertial nav has started and is ready
-    const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
+    const auto &ahrs = AP::ahrs();
     char failure_msg[50] = {};
     if (!ahrs.pre_arm_check(mode_requires_gps, failure_msg, sizeof(failure_msg))) {
         check_failed(display_failure, "AHRS: %s", failure_msg);
@@ -638,7 +638,7 @@ bool AP_Arming_Copter::alt_checks(bool display_failure)
 //  has side-effect that logging is started
 bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 {
-    const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
+    const auto &ahrs = AP::ahrs();
 
     // always check if inertial nav has started and is ready
     if (!ahrs.healthy()) {
@@ -815,7 +815,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
     // --------------------
     copter.init_simple_bearing();
 
-    AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
+    auto &ahrs = AP::ahrs();
 
     copter.initial_armed_bearing = ahrs.yaw_sensor;
 
@@ -905,7 +905,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
     gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
 #endif
 
-    AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
+    auto &ahrs = AP::ahrs();
 
     // save compass offsets learned by the EKF if enabled
     Compass &compass = AP::compass();
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 6fbfe4605c..96c2764fe0 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -50,7 +50,7 @@
 #include <Filter/Filter.h>                  // Filter library
 #include <AP_Airspeed/AP_Airspeed.h>        // needed for AHRS build
 #include <AP_Vehicle/AP_Vehicle.h>          // needed for AHRS build
-#include <AP_InertialNav/AP_InertialNav.h>  // ArduPilot Mega inertial navigation library
+#include <AP_InertialNav/AP_InertialNav_NavEKF.h>  // ArduPilot Mega inertial navigation library
 #include <AC_WPNav/AC_WPNav.h>              // ArduCopter waypoint navigation library
 #include <AC_WPNav/AC_Loiter.h>             // ArduCopter Loiter Mode Library
 #include <AC_WPNav/AC_Circle.h>             // circle navigation library
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index a790138c9f..1352fe0b49 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -86,7 +86,7 @@ void Copter::Log_Write_Attitude()
 // Write an EKF and POS packet
 void Copter::Log_Write_EKF_POS()
 {
-    AP::ahrs_navekf().Log_Write();
+    AP::ahrs().Log_Write();
     ahrs.Write_AHRS2();
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     sitl.Log_Write_SIMSTATE();