[fixedwing] explicit ins subsystem and fix for xsens ins

* renamed the ins_float to ins_alt_float
* to use the vertical filter add <subsystem name="ins" type="alt_float"/>
* should also fix the imu/ins xsens subsystems
There is still a lot of cleaning up to do, especially for the ins modules.

conf/modules/ins_chimu_uart.xml

@@ -15,7 +15,7 @@ For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
     <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
-  <!--<periodic fun="ins_periodic_task()" freq="60"/>-->
+  <!--<periodic fun="ins_periodic()" freq="60"/>-->
   <event fun="parse_ins_msg()"/>
   <makefile target="ap">
     <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_module.h\\\""/>

conf/modules/ins_vn100.xml

@@ -9,7 +9,7 @@
     <file name="ins_vn100.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="60"/>
+  <periodic fun="ins_periodic()" freq="60"/>
   <periodic fun="ins_report_task()" freq="4"/>
   <event fun="ins_event_task()"/>
   <makefile>

conf/modules/ins_xsens.xml

@@ -9,7 +9,7 @@
     <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="60"/>
+  <periodic fun="ins_periodic()" freq="60"/>
   <makefile>
     <file name="ins_xsens.c"/>
   </makefile>

conf/modules/ins_xsens_MTiG_Uart0.xml

@@ -10,7 +10,7 @@
     <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="60"/>
+  <periodic fun="ins_periodic()" freq="60"/>
   <makefile>
     <define name="USE_UART0"/>
     <define name="INS_LINK" value="Uart0"/>

conf/modules/ins_xsens_MTi_Uart0.xml

@@ -9,7 +9,7 @@
     <file name="ins_module.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="60"/>
+  <periodic fun="ins_periodic()" freq="60"/>
   <makefile>
     <define name="USE_UART0"/>
     <define name="INS_LINK" value="Uart0"/>