Rover: use ins singleton

APMrover2/APMrover2.cpp

@@ -172,7 +172,7 @@ void Rover::ahrs_update()
     }
 
     if (should_log(MASK_LOG_IMU)) {
-        DataFlash.Log_Write_IMU(ins);
+        DataFlash.Log_Write_IMU();
     }
 }
 
@@ -243,7 +243,7 @@ void Rover::update_logging2(void)
     }
 
     if (should_log(MASK_LOG_IMU)) {
-        DataFlash.Log_Write_Vibration(ins);
+        DataFlash.Log_Write_Vibration();
     }
 }
 

APMrover2/Rover.h

@@ -171,9 +171,9 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, rangefinder};
     NavEKF3 EKF3{&ahrs, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs{EKF2, EKF3};
 #else
-    AP_AHRS_DCM ahrs{ins};
+    AP_AHRS_DCM ahrs;
 #endif
 
     // Arming/Disarming management class