diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 26a47e2c8c..b5dddb89cb 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -385,4 +385,8 @@
 #define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024
 #endif
 
+#ifndef HAL_INS_RATE_LOOP
+#define HAL_INS_RATE_LOOP 0
+#endif
+
 #define HAL_GPIO_LED_OFF (!HAL_GPIO_LED_ON)
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index 9e5cd5911f..9c51ac58ea 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -140,3 +140,9 @@
 #endif
 #define HAL_USE_QUADSPI (HAL_USE_QUADSPI1 || HAL_USE_QUADSPI2)
 #define HAL_USE_OCTOSPI (HAL_USE_OCTOSPI1 || HAL_USE_OCTOSPI2)
+
+#if defined(STM32H7) || defined(STM32F7)
+#define HAL_INS_RATE_LOOP 1
+#else
+#define HAL_INS_RATE_LOOP 0
+#endif
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index a7e6c3fc17..c55fec67e2 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -422,3 +422,7 @@
 #else
 #define HAL_LINUX_USE_VIRTUAL_CAN 0
 #endif
+
+#ifndef HAL_INS_RATE_LOOP
+#define HAL_INS_RATE_LOOP 1
+#endif
diff --git a/libraries/AP_HAL/board/sitl.h b/libraries/AP_HAL/board/sitl.h
index 7738814898..e4d1afff91 100644
--- a/libraries/AP_HAL/board/sitl.h
+++ b/libraries/AP_HAL/board/sitl.h
@@ -96,3 +96,7 @@
 #endif
 
 #define HAL_SOLO_GIMBAL_ENABLED 1
+
+#ifndef HAL_INS_RATE_LOOP
+#define HAL_INS_RATE_LOOP 1
+#endif