Tracker: use ins singleton

AntennaTracker/AntennaTracker.cpp

@@ -109,7 +109,7 @@ void Tracker::one_second_loop()
 void Tracker::ten_hz_logging_loop()
 {
     if (should_log(MASK_LOG_IMU)) {
-        DataFlash.Log_Write_IMU(ins);
+        DataFlash.Log_Write_IMU();
     }
     if (should_log(MASK_LOG_ATTITUDE)) {
         Log_Write_Attitude();

AntennaTracker/Tracker.h

@@ -118,9 +118,9 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, rng};
     NavEKF3 EKF3{&ahrs, rng};
-    AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs{EKF2, EKF3};
 #else
-    AP_AHRS_DCM ahrs{ins};
+    AP_AHRS_DCM ahrs;
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL