APM: fixed HIL build

ArduPlane/GCS_Mavlink.pde

@@ -1675,9 +1675,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			
 			// rad/sec
             Vector3f gyros;
-            gyros.x = (float)packet.xgyro / 1000.0;
-            gyros.y = (float)packet.ygyro / 1000.0;
-            gyros.z = (float)packet.zgyro / 1000.0;
+            gyros.x = packet.rollspeed;
+            gyros.y = packet.pitchspeed;
+            gyros.z = packet.yawspeed;
+
             // m/s/s
             Vector3f accels;
             accels.x = (float)packet.xacc / 1000.0;

ArduPlane/Parameters.pde

@@ -513,9 +513,11 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	GOBJECT(gcs0,					"SR0_",     GCS_MAVLINK),
 	GOBJECT(gcs3,					"SR3_",     GCS_MAVLINK),
 
+#if HIL_MODE == HIL_MODE_DISABLED
 	// @Group: INS_
 	// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
 	GOBJECT(ins,        			"INS_", AP_InertialSensor_Oilpan),
+#endif
 
 	// @Group: IMU_
 	// @Path: ../libraries/AP_IMU/IMU.cpp