From c7216a27403a249c501955c6c48eba6699458e2c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 4 Oct 2017 10:44:24 +1100
Subject: [PATCH] Copter: call ins periodic function

---
 ArduCopter/ArduCopter.cpp | 6 ++++++
 ArduCopter/Copter.h       | 1 +
 2 files changed, 7 insertions(+)

diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index aed896be98..28859d0782 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -127,6 +127,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(ten_hz_logging_loop,   10,    350),
     SCHED_TASK(twentyfive_hz_logging, 25,    110),
     SCHED_TASK(dataflash_periodic,    400,    300),
+    SCHED_TASK(ins_periodic,         400,     50),
     SCHED_TASK(perf_update,           0.1,    75),
     SCHED_TASK(read_receiver_rssi,    10,     75),
     SCHED_TASK(rpm_update,            10,    200),
@@ -440,6 +441,11 @@ void Copter::dataflash_periodic(void)
     DataFlash.periodic_tasks();
 }
 
+void Copter::ins_periodic(void)
+{
+    ins.periodic();
+}
+
 // three_hz_loop - 3.3hz loop
 void Copter::three_hz_loop()
 {
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 4b06e7acdf..5323dc5fe5 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -1160,6 +1160,7 @@ private:
     void log_init(void);
     void init_capabilities(void);
     void dataflash_periodic(void);
+    void ins_periodic();
     void accel_cal_update(void);
 
 public: