From b59c2729962d403d57992da71996c990359c335c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 4 Oct 2017 11:13:23 +1100
Subject: [PATCH] Tracker: call ins's periodic function

---
 AntennaTracker/AntennaTracker.cpp | 6 ++++++
 AntennaTracker/Tracker.h          | 1 +
 2 files changed, 7 insertions(+)

diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index f689a9c0ab..c104bf5998 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -44,6 +44,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(barometer_accumulate,   50,    900),
     SCHED_TASK(ten_hz_logging_loop,    10,    300),
     SCHED_TASK(dataflash_periodic,     50,    300),
+    SCHED_TASK(ins_periodic,           50,     50),
     SCHED_TASK(update_notify,          50,    100),
     SCHED_TASK(check_usb_mux,          10,    300),
     SCHED_TASK(gcs_retry_deferred,     50,   1000),
@@ -85,6 +86,11 @@ void Tracker::dataflash_periodic(void)
     DataFlash.periodic_tasks();
 }
 
+void Tracker::ins_periodic()
+{
+    ins.periodic();
+}
+
 void Tracker::one_second_loop()
 {
     // send a heartbeat
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index a21fb04cf1..ad1af70a2d 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -196,6 +196,7 @@ private:
     static const struct LogStructure log_structure[];
 
     void dataflash_periodic(void);
+    void ins_periodic();
     void one_second_loop();
     void ten_hz_logging_loop();
     void send_heartbeat(mavlink_channel_t chan);