diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 2bcc235deb..d7d387fdb9 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -287,29 +287,11 @@ static AP_Compass_HIL compass;
  #error Unrecognized CONFIG_COMPASS setting
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 apm1_adc;
 #endif
 
-#if CONFIG_INS_TYPE == HAL_INS_MPU6000
-AP_InertialSensor_MPU6000 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_PX4
-AP_InertialSensor_PX4 ins;
-#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
-AP_InertialSensor_VRBRAIN ins;
-#elif CONFIG_INS_TYPE == HAL_INS_HIL
-AP_InertialSensor_HIL ins;
-#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
-AP_InertialSensor_Oilpan ins( &apm1_adc );
-#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
-AP_InertialSensor_Flymaple ins;
-#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
-AP_InertialSensor_L3G4200D ins;
-#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
-AP_InertialSensor_MPU9250 ins;
-#else
-  #error Unrecognised CONFIG_INS_TYPE setting.
-#endif // CONFIG_INS_TYPE
+AP_InertialSensor ins;
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
@@ -969,10 +951,8 @@ static void perf_update(void)
 void loop()
 {
     // wait for an INS sample
-    if (!ins.wait_for_sample(1000)) {
-        Log_Write_Error(ERROR_SUBSYSTEM_MAIN, ERROR_CODE_MAIN_INS_DELAY);
-        return;
-    }
+    ins.wait_for_sample();
+
     uint32_t timer = micros();
 
     // check loop time
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 624112e45d..09b7b725fe 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -55,7 +55,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // sensor types
 
-#define CONFIG_INS_TYPE HAL_INS_DEFAULT
 #define CONFIG_BARO     HAL_BARO_DEFAULT
 #define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
 
@@ -73,8 +72,6 @@
 #if HIL_MODE != HIL_MODE_DISABLED       // we are in HIL mode
  #undef CONFIG_BARO
  #define CONFIG_BARO HAL_BARO_HIL
- #undef CONFIG_INS_TYPE
- #define CONFIG_INS_TYPE HAL_INS_HIL
  #undef  CONFIG_COMPASS
  #define CONFIG_COMPASS HAL_COMPASS_HIL
 #endif
@@ -162,7 +159,7 @@
 // ADC Enable - used to eliminate for systems which don't have ADC.
 //
 #ifndef CONFIG_ADC
- # if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
+ # if CONFIG_HAL_BOARD == HAL_BOARD_APM1
   #   define CONFIG_ADC ENABLED
  # else
   #   define CONFIG_ADC DISABLED
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index d391c5cd30..523a507039 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -249,6 +249,9 @@ static void init_ardupilot()
         gcs_send_text_P(SEVERITY_LOW, PSTR("Waiting for first HIL_STATE message"));
         delay(1000);
     }
+
+    // set INS to HIL mode
+    ins.set_hil_mode();
 #endif
 
     // read Baro pressure at ground