diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index 8bfe844c50..0c27906150 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -369,7 +369,8 @@ void ModeFlowHold::update_height_estimate(void)
 
     // get delta velocity in body frame
     Vector3f delta_vel;
-    if (!copter.ins.get_delta_velocity(delta_vel)) {
+    float delta_vel_dt;
+    if (!copter.ins.get_delta_velocity(delta_vel, delta_vel_dt)) {
         return;
     }
 
diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
index 0db0eee754..8e8454cdc3 100644
--- a/ArduCopter/mode_systemid.cpp
+++ b/ArduCopter/mode_systemid.cpp
@@ -275,15 +275,13 @@ void ModeSystemId::run()
 // log system id and attitude
 void ModeSystemId::log_data() const
 {
-    uint8_t index = copter.ahrs.get_primary_gyro_index();
     Vector3f delta_angle;
-    copter.ins.get_delta_angle(index, delta_angle);
-    float delta_angle_dt = copter.ins.get_delta_angle_dt(index);
+    float delta_angle_dt;
+    copter.ins.get_delta_angle(delta_angle, delta_angle_dt);
 
-    index = copter.ahrs.get_primary_accel_index();
     Vector3f delta_velocity;
-    copter.ins.get_delta_velocity(index, delta_velocity);
-    float delta_velocity_dt = copter.ins.get_delta_velocity_dt(index);
+    float delta_velocity_dt;
+    copter.ins.get_delta_velocity(delta_velocity, delta_velocity_dt);
 
     if (is_positive(delta_angle_dt) && is_positive(delta_velocity_dt)) {
         copter.Log_Write_SysID_Data(waveform_time, waveform_sample, waveform_freq_rads / (2 * M_PI), degrees(delta_angle.x / delta_angle_dt), degrees(delta_angle.y / delta_angle_dt), degrees(delta_angle.z / delta_angle_dt), delta_velocity.x / delta_velocity_dt, delta_velocity.y / delta_velocity_dt, delta_velocity.z / delta_velocity_dt);