diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 455145ae04..a2b5430d6e 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -46,8 +46,8 @@
 #include <DataFlash/DataFlash.h>
 #include <AC_PID/AC_PID.h>
 #include <AP_Scheduler/AP_Scheduler.h>       // main loop scheduler
-#include <AP_NavEKF/AP_NavEKF.h>
 #include <AP_NavEKF2/AP_NavEKF2.h>
+#include <AP_NavEKF3/AP_NavEKF3.h>
 
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_Mission/AP_Mission.h>
@@ -114,9 +114,9 @@ private:
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF EKF{&ahrs, barometer, rng};
     NavEKF2 EKF2{&ahrs, barometer, rng};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF, EKF2};
+    NavEKF3 EKF3{&ahrs, barometer, rng};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs{ins, barometer, gps};
 #endif