Sub: use ins singleton

ArduSub/ArduSub.cpp

@@ -207,7 +207,7 @@ void Sub::ten_hz_logging_loop()
         pos_control.write_log();
     }
     if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
-        DataFlash.Log_Write_Vibration(ins);
+        DataFlash.Log_Write_Vibration();
     }
     if (should_log(MASK_LOG_CTUN)) {
         attitude_control.control_monitor_log();
@@ -231,7 +231,7 @@ void Sub::twentyfive_hz_logging()
 
     // log IMU data if we're not already logging at the higher rate
     if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
-        DataFlash.Log_Write_IMU(ins);
+        DataFlash.Log_Write_IMU();
     }
 }
 

ArduSub/Sub.h

@@ -188,7 +188,7 @@ private:
     // Inertial Navigation EKF
     NavEKF2 EKF2{&ahrs, rangefinder};
     NavEKF3 EKF3{&ahrs, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;