diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml
index c38d5498df..9bdd852c30 100644
--- a/conf/airframes/CDW/debug_i2c.xml
+++ b/conf/airframes/CDW/debug_i2c.xml
@@ -232,6 +232,7 @@
     <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index 94ede377e3..2c6ce038e9 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -264,6 +264,7 @@
     </subsystem>
    <!--    <subsystem name="ahrs"          type="int_cmpl_euler"/> -->
    <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 69f4545c0e..269bd6da8d 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -206,6 +206,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 571cfd3fd6..905a6d4d2a 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -233,6 +233,7 @@
     <!--subsystem name="ahrs"          type="int_cmpl_euler"/-->
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml
index db0e872238..b76881c9fa 100644
--- a/conf/airframes/Poine/h_hex.xml
+++ b/conf/airframes/Poine/h_hex.xml
@@ -170,6 +170,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"/>
   </firmware>
 
 
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
index 244048fdb8..847289e905 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
@@ -30,6 +30,7 @@
         </subsystem>
         <subsystem name="stabilization"   type="euler"/>
         <subsystem name="ahrs"            type="int_cmpl_quat"/>
+        <subsystem name="ins"/>
     </firmware>
 
     <!--
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
index c499d96cf1..38bee2483a 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -31,6 +31,7 @@
         </subsystem>
         <subsystem name="stabilization"   type="euler"/>
         <subsystem name="ahrs"            type="int_cmpl_quat"/>
+        <subsystem name="ins"/>
     </firmware>
 
 <!--
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index ae583ee5f8..622adf7a5b 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -21,6 +21,7 @@
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
   </firmware>
 
   <firmware name="booz2_test_progs">
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index a2c3547006..57cfe4da4a 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -207,6 +207,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"/>
 </firmware>
 <firmware name="booz_test_progs">
     <target name="test_telemetry" board="booz_1.0"/>
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index 10700993cb..bd2eab6026 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -253,6 +253,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index 6215851386..e26b3bf3d2 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -249,6 +249,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
index b81033b137..a5dbd1736d 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -209,6 +209,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
index 2cbf1cf8b4..579c5550e7 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -209,6 +209,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
     <!--define name="USE_INS_NAV_INIT"/-->
     <!--subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/-->
diff --git a/conf/airframes/examples/booz2.xml b/conf/airframes/examples/booz2.xml
index 553fc34a9d..0ce2e0d2b9 100644
--- a/conf/airframes/examples/booz2.xml
+++ b/conf/airframes/examples/booz2.xml
@@ -204,6 +204,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
 
diff --git a/conf/airframes/examples/h_hex.xml b/conf/airframes/examples/h_hex.xml
index 3e9af7aa92..04fcaf4edd 100644
--- a/conf/airframes/examples/h_hex.xml
+++ b/conf/airframes/examples/h_hex.xml
@@ -180,6 +180,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"/>
   </firmware>
 
 
diff --git a/conf/airframes/examples/lisa_asctec.xml b/conf/airframes/examples/lisa_asctec.xml
index 1d03cafeb6..fce3a2180d 100644
--- a/conf/airframes/examples/lisa_asctec.xml
+++ b/conf/airframes/examples/lisa_asctec.xml
@@ -199,6 +199,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"/>
   </firmware>
 
   <firmware name="lisa_test_progs">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index 3b1ee8b709..2ea3b310ea 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -33,6 +33,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
   </firmware>
 
   <servos>
diff --git a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
index c15bb0964a..ffa125e692 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_mkk.xml
@@ -25,6 +25,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
   </firmware>
 
   <commands>
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
index f2760076cc..7d561384d0 100644
--- a/conf/airframes/mm/rotor/qmk1.xml
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -202,6 +202,7 @@
     </subsystem>
     <subsystem name="stabilization"   type="euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
+    <subsystem name="ins"/>
   </firmware>
 
   <firmware name="lisa_test_progs">
diff --git a/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml b/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml
index 2d98f234b7..2f3d6af7a8 100644
--- a/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml
+++ b/conf/airframes/mm/rotor/quadrotor_lisa_l_mkk.xml
@@ -21,6 +21,7 @@
     </subsystem>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
   </firmware>
 
   <firmware name="setup">
diff --git a/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml b/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
index c7915652d3..7fabac6e96 100644
--- a/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
+++ b/conf/airframes/mm/rotor/quadrotor_lisa_m_1_pwm.xml
@@ -18,6 +18,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
   </firmware>
 
   <servos>
diff --git a/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml b/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
index 76e3210fbe..ed99bdefa5 100644
--- a/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
+++ b/conf/airframes/mm/rotor/quadrotor_lisa_m_2_pwm.xml
@@ -18,6 +18,7 @@
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
+    <subsystem name="ins"/>
   </firmware>
 
   <servos>