diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index eaa1490415..9976199b88 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -165,7 +165,7 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rangefinder};
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index a19322668b..1e580facef 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -118,7 +118,7 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rng};
     NavEKF3 EKF3{&ahrs, barometer, rng};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs{ins, barometer, gps};
 #endif
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index c3ea3f6ee9..c068e8f415 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -216,7 +216,7 @@ private:
     // Inertial Navigation EKF
     NavEKF2 EKF2{&ahrs, barometer, rangefinder};
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 37a6c6f12a..1b65d5fa06 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -210,12 +210,12 @@ private:
     AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;
 
     AP_RPM rpm_sensor;
-    
+
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rangefinder};
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index b8d53358e3..85dca5f9e4 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -186,7 +186,7 @@ private:
     // Inertial Navigation EKF
     NavEKF2 EKF2 {&ahrs, barometer, rangefinder};
     NavEKF3 EKF3 {&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;
diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
index ceaf5aa1b3..858e642b6c 100644
--- a/Tools/Replay/Replay.h
+++ b/Tools/Replay/Replay.h
@@ -66,7 +66,7 @@ public:
     RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     NavEKF2 EKF2{&ahrs, barometer, rng};
     NavEKF3 EKF3{&ahrs, barometer, rng};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
     AP_InertialNav_NavEKF inertial_nav{ahrs};
     AP_Vehicle::FixedWing aparm;
     AP_Airspeed airspeed;
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 847eed1772..245275d734 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -30,7 +30,7 @@
 extern const AP_HAL::HAL& hal;
 
 // constructor
-AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng, NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags) :
+AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags) :
     AP_AHRS_DCM(ins, baro, gps),
     EKF2(_EKF2),
     EKF3(_EKF3),
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 2a6dff960c..c2c5c52a6c 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -45,7 +45,7 @@ public:
     };
 
     // Constructor
-    AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng,
+    AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps,
                    NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
 
     // return the smoothed gyro vector corrected for drift
diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
index de3ac3d1b8..a70b163a9f 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -24,10 +24,10 @@ AP_SerialManager serial_manager;
 class DummyVehicle {
 public:
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
-                        AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
     NavEKF2 EKF2{&ahrs, barometer, sonar};
     NavEKF3 EKF3{&ahrs, barometer, sonar};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
+                        AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 };
 
 static DummyVehicle vehicle;
diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
index 94298f84b6..e24872b772 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
@@ -27,7 +27,7 @@ public:
     AP_InertialSensor ins = AP_InertialSensor::create();
     AP_SerialManager serial_manager;
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
                         AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
     NavEKF2 EKF2{&ahrs, barometer, sonar};
     NavEKF3 EKF3{&ahrs, barometer, sonar};