diff --git a/Tools/Replay/LR_MsgHandler.cpp b/Tools/Replay/LR_MsgHandler.cpp
index a53b7952ce..d401cda523 100644
--- a/Tools/Replay/LR_MsgHandler.cpp
+++ b/Tools/Replay/LR_MsgHandler.cpp
@@ -105,7 +105,7 @@ void LR_MsgHandler_BARO::process_message(uint8_t *msg)
     if (!field_value(msg, "SMS", last_update_ms)) {
         last_update_ms = 0;
     }
-    baro.setHIL(0,
+    AP::baro().setHIL(0,
 		require_field_float(msg, "Press"),
 		require_field_int16_t(msg, "Temp") * 0.01f,
 		require_field_float(msg, "Alt"),
diff --git a/Tools/Replay/LR_MsgHandler.h b/Tools/Replay/LR_MsgHandler.h
index 4aad1334e8..4074f79bef 100644
--- a/Tools/Replay/LR_MsgHandler.h
+++ b/Tools/Replay/LR_MsgHandler.h
@@ -113,13 +113,12 @@ class LR_MsgHandler_BARO : public LR_MsgHandler
 {
 public:
     LR_MsgHandler_BARO(log_Format &_f, DataFlash_Class &_dataflash,
-                    uint64_t &_last_timestamp_usec, AP_Baro &_baro)
-        : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), baro(_baro) { };
+                    uint64_t &_last_timestamp_usec)
+        : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec)
+        { };
 
     virtual void process_message(uint8_t *msg);
 
-private:
-    AP_Baro &baro;
 };
 
 
diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index 5b1562bde5..b5dd78c57e 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -39,13 +39,12 @@ const struct LogStructure log_structure[] = {
       "FBBBGGB000"}
 };
 
-LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, 
+LogReader::LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, Compass &_compass, AP_GPS &_gps, 
                      AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&_nottypes):
     DataFlashFileReader(),
     vehicle(VehicleType::VEHICLE_UNKNOWN),
     ahrs(_ahrs),
     ins(_ins),
-    baro(_baro),
     compass(_compass),
     gps(_gps),
     airspeed(_airspeed),
@@ -231,7 +230,7 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
 						 sim_attitude);
 	} else if (streq(name, "BARO")) {
 	  msgparser[f.type] = new LR_MsgHandler_BARO(formats[f.type], dataflash,
-                                                  last_timestamp_usec, baro);
+                                                  last_timestamp_usec);
 	} else if (streq(name, "ARM")) {
 	  msgparser[f.type] = new LR_MsgHandler_ARM(formats[f.type], dataflash,
                                                   last_timestamp_usec);
diff --git a/Tools/Replay/LogReader.h b/Tools/Replay/LogReader.h
index 9fabe73e04..a6367086c2 100644
--- a/Tools/Replay/LogReader.h
+++ b/Tools/Replay/LogReader.h
@@ -6,7 +6,7 @@
 class LogReader : public DataFlashFileReader
 {
 public:
-    LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro &_baro, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&nottypes);
+    LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, Compass &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed, DataFlash_Class &_dataflash, const char **&nottypes);
     bool wait_type(const char *type);
 
     const Vector3f &get_attitude(void) const { return attitude; }
@@ -37,7 +37,6 @@ protected:
 private:
     AP_AHRS &ahrs;
     AP_InertialSensor &ins;
-    AP_Baro &baro;
     Compass &compass;
     AP_GPS &gps;
     AP_Airspeed &airspeed;
diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
index f6385718a7..f144dcda62 100644
--- a/Tools/Replay/Replay.h
+++ b/Tools/Replay/Replay.h
@@ -64,9 +64,9 @@ public:
     Compass compass;
     AP_SerialManager serial_manager;
     RangeFinder rng{serial_manager, ROTATION_PITCH_270};
-    NavEKF2 EKF2{&ahrs, barometer, rng};
-    NavEKF3 EKF3{&ahrs, barometer, rng};
-    AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
+    NavEKF2 EKF2{&ahrs, rng};
+    NavEKF3 EKF3{&ahrs, rng};
+    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
     AP_InertialNav_NavEKF inertial_nav{ahrs};
     AP_Vehicle::FixedWing aparm;
     AP_Airspeed airspeed;
@@ -121,7 +121,7 @@ private:
     SITL::SITL sitl;
 #endif
 
-    LogReader logreader{_vehicle.ahrs, _vehicle.ins, _vehicle.barometer, _vehicle.compass, _vehicle.gps, _vehicle.airspeed, _vehicle.dataflash, nottypes};
+    LogReader logreader{_vehicle.ahrs, _vehicle.ins, _vehicle.compass, _vehicle.gps, _vehicle.airspeed, _vehicle.dataflash, nottypes};
 
     FILE *ekf1f;
     FILE *ekf2f;