diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index e2f5c9b8d3..97056f0ddf 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -215,9 +215,9 @@ private:
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF2 EKF2{&ahrs, barometer, rangefinder};
     NavEKF3 EKF3{&ahrs, barometer, rangefinder};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
 #else
-    AP_AHRS_DCM ahrs{ins, barometer, gps};
+    AP_AHRS_DCM ahrs{ins, barometer};
 #endif
 
     AP_TECS TECS_controller{ahrs, aparm, landing, g2.soaring_controller};