diff --git a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.pde b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.pde
index 2ac2031206..87ca113e2b 100644
--- a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.pde
+++ b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.pde
@@ -39,27 +39,7 @@
 
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-#define CONFIG_INS_TYPE HAL_INS_DEFAULT
-
-#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_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;
-#elif CONFIG_INS_TYPE == HAL_INS_L3GD20
-AP_InertialSensor_L3GD20 ins;
-#else
-  #error Unrecognised CONFIG_INS_TYPE setting.
-#endif // CONFIG_INS_TYPE
+AP_InertialSensor ins;
 
 void setup(void)
 {
@@ -210,7 +190,7 @@ void run_test()
     while( !hal.console->available() ) {
 
         // wait until we have a sample
-        ins.wait_for_sample(1000);
+        ins.wait_for_sample();
 
         // read samples from ins
         ins.update();