ArudCopter: privatize AHRS logging

ArduCopter/Log.cpp

@@ -69,8 +69,8 @@ void Copter::Log_Write_Attitude()
 {
     Vector3f targets = attitude_control->get_att_target_euler_cd();
     targets.z = wrap_360_cd(targets.z);
-    logger.Write_Attitude(targets);
-    logger.Write_Rate(ahrs_view, *motors, *attitude_control, *pos_control);
+    ahrs.Write_Attitude(targets);
+    ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
     if (should_log(MASK_LOG_PID)) {
         logger.Write_PID(LOG_PIDR_MSG, attitude_control->get_rate_roll_pid().get_pid_info());
         logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
@@ -83,11 +83,11 @@ void Copter::Log_Write_Attitude()
 void Copter::Log_Write_EKF_POS()
 {
     AP::ahrs_navekf().Log_Write();
-    logger.Write_AHRS2();
+    ahrs.Write_AHRS2();
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     sitl.Log_Write_SIMSTATE();
 #endif
-    logger.Write_POS();
+    ahrs.Write_POS();
 }
 
 struct PACKED log_MotBatt {