diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index e5e3a8fd41..301dba44aa 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -262,7 +262,7 @@ void Plane::update_logging2(void)
         Log_Write_RC();
 
     if (should_log(MASK_LOG_IMU))
-        DataFlash.Log_Write_Vibration(ins);
+        DataFlash.Log_Write_Vibration();
 }
 
 
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index ce93158285..13e652435f 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -158,7 +158,7 @@ void Plane::Log_Write_Status()
         ,armed       : hal.util->get_soft_armed()
         ,safety      : static_cast<uint8_t>(hal.util->safety_switch_state())
         ,is_crashed  : crash_state.is_crashed
-        ,is_still    : plane.ins.is_still()
+        ,is_still    : AP::ins().is_still()
         ,stage       : static_cast<uint8_t>(flight_stage)
         ,impact      : crash_state.impact_detected
         };
@@ -279,9 +279,9 @@ void Plane::Log_Write_GPS(uint8_t instance)
     }
 }
 
-void Plane::Log_Write_IMU() 
+void Plane::Log_Write_IMU()
 {
-    DataFlash.Log_Write_IMU(ins);
+    DataFlash.Log_Write_IMU();
 }
 
 void Plane::Log_Write_RC(void)
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 638cf99f28..c3abf86eaf 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -216,9 +216,9 @@ 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
 
     AP_TECS TECS_controller{ahrs, aparm, landing, g2.soaring_controller};