From 06c2faaec5d7a54667fdbbe06a19107c673b7f33 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 20 Jul 2021 22:16:33 +1000
Subject: [PATCH] ArduPlane: rename for AHRS restructuring

---
 ArduPlane/Log.cpp       | 2 +-
 ArduPlane/quadplane.cpp | 2 +-
 ArduPlane/quadplane.h   | 6 +++---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index c66edc5af4..6f2f96f1c9 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -35,7 +35,7 @@ void Plane::Log_Write_Attitude(void)
     logger.Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
     logger.Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
 
-    AP::ahrs_navekf().Log_Write();
+    AP::ahrs().Log_Write();
     ahrs.Write_AHRS2();
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 0149c1ee0c..bf26a070c9 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -632,7 +632,7 @@ const AP_Param::ConversionInfo q_conversion_table[] = {
 };
 
 
-QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
+QuadPlane::QuadPlane(AP_AHRS &_ahrs) :
     ahrs(_ahrs)
 {
     AP_Param::setup_object_defaults(this, var_info);
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 24d2567d11..7b68a34fc5 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -3,7 +3,7 @@
 #include <AP_Motors/AP_Motors.h>
 #include <AC_PID/AC_PID.h>
 #include <AC_AttitudeControl/AC_AttitudeControl_Multi.h> // Attitude control library
-#include <AP_InertialNav/AP_InertialNav.h>
+#include <AP_InertialNav/AP_InertialNav_NavEKF.h>
 #include <AC_AttitudeControl/AC_PosControl.h>
 #include <AC_WPNav/AC_WPNav.h>
 #include <AC_WPNav/AC_Loiter.h>
@@ -41,7 +41,7 @@ public:
     friend class ModeQAutotune;
     friend class ModeQAcro;
     
-    QuadPlane(AP_AHRS_NavEKF &_ahrs);
+    QuadPlane(AP_AHRS &_ahrs);
 
     static QuadPlane *get_singleton() {
         return _singleton;
@@ -186,7 +186,7 @@ public:
     void set_q_assist_state(Q_ASSIST_STATE_ENUM state) {q_assist_state = state;};
 
 private:
-    AP_AHRS_NavEKF &ahrs;
+    AP_AHRS &ahrs;
     AP_Vehicle::MultiCopter aparm;
 
     AP_InertialNav_NavEKF inertial_nav{ahrs};