From e98af907492d90611e8e79fdf9f0fcb1a7bdf9de Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 20 Jul 2021 22:16:34 +1000
Subject: [PATCH] ArduSub: rename for AHRS restructuring

---
 ArduSub/AP_Arming_Sub.cpp | 2 +-
 ArduSub/Log.cpp           | 2 +-
 ArduSub/Sub.h             | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduSub/AP_Arming_Sub.cpp b/ArduSub/AP_Arming_Sub.cpp
index a86b6f4b83..312d38c980 100644
--- a/ArduSub/AP_Arming_Sub.cpp
+++ b/ArduSub/AP_Arming_Sub.cpp
@@ -167,7 +167,7 @@ bool AP_Arming_Sub::disarm(const AP_Arming::Method method, bool do_disarm_checks
     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
     if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LEARN_EKF) {
diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index 085fe6ecba..906e9f3225 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -57,7 +57,7 @@ void Sub::Log_Write_Attitude()
     targets.z = wrap_360_cd(targets.z);
     ahrs.Write_Attitude(targets);
 
-    AP::ahrs_navekf().Log_Write();
+    AP::ahrs().Log_Write();
     ahrs.Write_AHRS2();
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     sitl.Log_Write_SIMSTATE();
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 502c8b4373..b36c62e712 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -53,7 +53,7 @@
 #include <AP_Relay/AP_Relay.h>           // APM relay
 #include <AP_Mount/AP_Mount.h>           // Camera/Antenna mount
 #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>           // Waypoint navigation library
 #include <AC_WPNav/AC_Loiter.h>
 #include <AC_WPNav/AC_Circle.h>          // circle navigation library