Plane: allow for settable main loop rate

ArduPlane/Plane.h

@@ -146,9 +146,6 @@ private:
     AP_Vehicle::FixedWing aparm;
     AP_HAL::BetterStream* cliSerial;
 
-    // the rate we run the main loop 
-    const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor::RATE_50HZ;
-
     // Global parameters are all contained within the 'g' class.
     Parameters g;
 

ArduPlane/system.cpp

@@ -569,7 +569,7 @@ void Plane::startup_INS_ground(void)
     ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
     ahrs.set_wind_estimation(true);
 
-    ins.init(ins_sample_rate);
+    ins.init(scheduler.get_loop_rate_hz());
     ahrs.reset();
 
     // read Baro pressure at ground

ArduPlane/test.cpp

@@ -350,7 +350,7 @@ int8_t Plane::test_ins(uint8_t argc, const Menu::arg *argv)
     ahrs.set_fly_forward(true);
     ahrs.set_wind_estimation(true);
 
-    ins.init(ins_sample_rate);
+    ins.init(scheduler.get_loop_rate_hz());
     ahrs.reset();
 
     print_hit_enter();
@@ -411,7 +411,7 @@ int8_t Plane::test_mag(uint8_t argc, const Menu::arg *argv)
     ahrs.set_compass(&compass);
 
     // we need the AHRS initialised for this test
-    ins.init(ins_sample_rate);
+    ins.init(scheduler.get_loop_rate_hz());
     ahrs.reset();
 
     uint16_t counter = 0;