diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index e376785a25..7443b237b3 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -80,6 +80,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(terrain_update,         10,    200),
     SCHED_TASK(update_is_flying_5Hz,    5,    100),
     SCHED_TASK(dataflash_periodic,     50,    400),
+    SCHED_TASK(ins_periodic,           50,     50),
     SCHED_TASK(avoidance_adsb_update,  10,    100),
     SCHED_TASK(button_update,           5,    100),
     SCHED_TASK(stats_update,            1,    100),
@@ -405,6 +406,11 @@ void Plane::terrain_update(void)
 }
 
 
+void Plane::ins_periodic(void)
+{
+    ins.periodic();
+}
+
 void Plane::dataflash_periodic(void)
 {
     DataFlash.periodic_tasks();
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 0114bd7f4a..c3a41f67b4 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1073,6 +1073,7 @@ private:
     void notify_flight_mode(enum FlightMode mode);
     void log_init();
     void init_capabilities(void);
+    void ins_periodic();
     void dataflash_periodic(void);
     void parachute_check();
 #if PARACHUTE == ENABLED