From 2d0a23fcc88071bcd2803eff3ff1484bb377f57a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 4 Oct 2017 11:12:49 +1100
Subject: [PATCH] Rover: call ins's periodic function

---
 APMrover2/APMrover2.cpp | 6 ++++++
 APMrover2/Rover.h       | 1 +
 2 files changed, 7 insertions(+)

diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 27e67963d0..315292742a 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -77,6 +77,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(compass_cal_update,     50,    100),
     SCHED_TASK(accel_cal_update,       10,    100),
     SCHED_TASK(dataflash_periodic,     50,    300),
+    SCHED_TASK(ins_periodic,           50,     50),
     SCHED_TASK(button_update,           5,    100),
     SCHED_TASK(stats_update,            1,    100),
     SCHED_TASK(crash_check,            10,   1000),
@@ -363,6 +364,11 @@ void Rover::dataflash_periodic(void)
     DataFlash.periodic_tasks();
 }
 
+void Rover::ins_periodic()
+{
+    ins.periodic();
+}
+
 void Rover::update_GPS_50Hz(void)
 {
     static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index a63bb507b6..586c4d7771 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -576,6 +576,7 @@ public:
     void failsafe_check();
 
     void dataflash_periodic(void);
+    void ins_periodic();
     void update_soft_armed();
     // Motor test
     void motor_test_output();