From 4ecb602defa5fae55e4066e13331c156956f2f9d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 10 Dec 2019 21:46:02 +1100
Subject: [PATCH] Sub: EKF objects have moved into AP_AHRS_NavEKF

---
 ArduSub/Parameters.cpp | 4 ++--
 ArduSub/system.cpp     | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 9e50fc7b5d..2b3e433c48 100644
--- a/ArduSub/Parameters.cpp
+++ b/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
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index a78e3374e5..5a2876ee8d 100644
--- a/ArduSub/system.cpp
+++ b/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();