Sub: EKF objects have moved into AP_AHRS_NavEKF

ArduSub/Parameters.cpp

@@ -548,11 +548,11 @@ const AP_Param::Info Sub::var_info[] = {
 
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
-    GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
+    GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
 
     // @Group: EK3_
     // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
-    GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
+    GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
 
     // @Group: MIS_
     // @Path: ../libraries/AP_Mission/AP_Mission.cpp

ArduSub/system.cpp

@@ -154,11 +154,11 @@ void Sub::init_ardupilot()
         // We only have onboard baro
         // No external underwater depth sensor detected
         barometer.set_primary_baro(0);
-        EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS
-        EKF3.set_baro_alt_noise(10.0f);
+        ahrs.EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS
+        ahrs.EKF3.set_baro_alt_noise(10.0f);
     } else {
-        EKF2.set_baro_alt_noise(0.1f);
-        EKF3.set_baro_alt_noise(0.1f);
+        ahrs.EKF2.set_baro_alt_noise(0.1f);
+        ahrs.EKF3.set_baro_alt_noise(0.1f);
     }
 
     leak_detector.init();