global: remove rangefinder from AP_AHRS_NavEKF

AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().

APMrover2/Rover.h

@@ -165,7 +165,7 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rangefinder};
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif

AntennaTracker/Tracker.h

@@ -118,7 +118,7 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rng};
     NavEKF3 EKF3{&ahrs, barometer, rng};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs{ins, barometer, gps};
 #endif

ArduCopter/Copter.h

@@ -216,7 +216,7 @@ private:
     // Inertial Navigation EKF
     NavEKF2 EKF2{&ahrs, barometer, rangefinder};
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;

ArduPlane/Plane.h

@@ -210,12 +210,12 @@ private:
     AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;
 
     AP_RPM rpm_sensor;
-    
+
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rangefinder};
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif

ArduSub/Sub.h

@@ -186,7 +186,7 @@ private:
     // Inertial Navigation EKF
     NavEKF2 EKF2 {&ahrs, barometer, rangefinder};
     NavEKF3 EKF3 {&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;

Tools/Replay/Replay.h

@@ -66,7 +66,7 @@ public:
     RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
     NavEKF2 EKF2{&ahrs, barometer, rng};
     NavEKF3 EKF3{&ahrs, barometer, rng};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
     AP_InertialNav_NavEKF inertial_nav{ahrs};
     AP_Vehicle::FixedWing aparm;
     AP_Airspeed airspeed;

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -30,7 +30,7 @@
 extern const AP_HAL::HAL& hal;
 
 // constructor
-AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng, NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags) :
+AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags) :
     AP_AHRS_DCM(ins, baro, gps),
     EKF2(_EKF2),
     EKF3(_EKF3),

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -45,7 +45,7 @@ public:
     };
 
     // Constructor
-    AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng,
+    AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps,
                    NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
 
     // return the smoothed gyro vector corrected for drift

libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@@ -24,10 +24,10 @@ AP_SerialManager serial_manager;
 class DummyVehicle {
 public:
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
-                        AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
     NavEKF2 EKF2{&ahrs, barometer, sonar};
     NavEKF3 EKF3{&ahrs, barometer, sonar};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
+                        AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
 };
 
 static DummyVehicle vehicle;

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp

@@ -27,7 +27,7 @@ public:
     AP_InertialSensor ins = AP_InertialSensor::create();
     AP_SerialManager serial_manager;
     RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
                         AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
     NavEKF2 EKF2{&ahrs, barometer, sonar};
     NavEKF3 EKF3{&ahrs, barometer, sonar};