From e449b3c4a12e65d28e98a87a6c37bdb2db1cb220 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 1 Jun 2015 16:17:15 +1000
Subject: [PATCH] Rover: changes for new AHRS API

---
 APMrover2/Parameters.cpp | 2 +-
 APMrover2/Rover.cpp      | 5 -----
 APMrover2/Rover.h        | 7 ++++---
 3 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 37b258de4d..ca09b35f4c 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -517,7 +517,7 @@ const AP_Param::Info Rover::var_info[] PROGMEM = {
 #if AP_AHRS_NAVEKF_AVAILABLE
     // @Group: EKF_
     // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
-    GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF),
+    GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
 #endif
 
     // @Group: MIS_
diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index 12347ffb7b..d6ca3d6981 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -30,11 +30,6 @@ Rover::Rover(void) :
 #endif
     in_log_download(false),
     modes(&g.mode1),
-#if AP_AHRS_NAVEKF_AVAILABLE
-    ahrs(ins, barometer, gps, sonar),
-#else
-    ahrs(ins, barometer, gps),
-#endif
     L1_controller(ahrs),
     nav_controller(&L1_controller),
     steerController(ahrs),
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index ba910a390b..80402d53f4 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -156,11 +156,12 @@ private:
     // flight modes convenience array
     AP_Int8	*modes;
 
-    // Inertial Navigation EKF
+// Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    AP_AHRS_NavEKF ahrs;
+    NavEKF EKF{&ahrs, barometer, sonar};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF};
 #else
-    AP_AHRS_DCM ahrs;
+    AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif
 
     AP_L1_Control L1_controller;