From da3d3cc21beb4b34eda70de55c4c5e53f546514b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 10 Dec 2019 20:33:22 +1100
Subject: [PATCH] AP_NavEKF: stop taking ahrs in constructor

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 4 ++--
 libraries/AP_NavEKF2/AP_NavEKF2.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 3417104cf6..919f788554 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -585,10 +585,10 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
     AP_GROUPEND
 };
 
-NavEKF2::NavEKF2(const AP_AHRS *ahrs) :
-    _ahrs(ahrs)
+NavEKF2::NavEKF2()
 {
     AP_Param::setup_object_defaults(this, var_info);
+    _ahrs = &AP::ahrs();
 }
 
 /*
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index 23837b30c2..e15404753a 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -37,7 +37,7 @@ class NavEKF2 {
     friend class NavEKF2_core;
 
 public:
-    NavEKF2(const AP_AHRS *ahrs);
+    NavEKF2();
 
     /* Do not allow copies */
     NavEKF2(const NavEKF2 &other) = delete;