diff --git a/conf/modules/ins_chimu_spi.xml b/conf/modules/ins_chimu_spi.xml
index db4f90c226..3e4151fb65 100644
--- a/conf/modules/ins_chimu_spi.xml
+++ b/conf/modules/ins_chimu_spi.xml
@@ -4,9 +4,9 @@
   <!-- <depend conflict="ins" -->
   <header>
     <file name="ins_module.h"/>
+    <file name="ins_chimu.h"/>
   </header>
   <init fun="ins_init()"/>
-  <periodic fun="ins_periodic_task()" freq="8"/>
   <event fun="parse_ins_msg()"/>
   <makefile>
     <define name="AHRS_TYPE_H" value="\\\"modules/ins/ins_module.h\\\""/>
diff --git a/conf/modules/ins_chimu_uart.xml b/conf/modules/ins_chimu_uart.xml
index f6c69cecbc..aa85a4caa1 100644
--- a/conf/modules/ins_chimu_uart.xml
+++ b/conf/modules/ins_chimu_uart.xml
@@ -10,6 +10,7 @@ For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
   <!-- <depend conflict="ins" -->
   <header>
     <file name="ins_module.h"/>
+    <file name="ins_chimu.h"/>
   </header>
   <init fun="ins_init()"/>
   <!--<periodic fun="ins_periodic_task()" freq="60"/>-->
diff --git a/sw/airborne/modules/ins/ins_chimu_spi.c b/sw/airborne/modules/ins/ins_chimu_spi.c
index b1b5e1d47d..4ff59a66b4 100644
--- a/sw/airborne/modules/ins/ins_chimu_spi.c
+++ b/sw/airborne/modules/ins/ins_chimu_spi.c
@@ -95,18 +95,16 @@ void parse_ins_msg( void )
 }
 
 
-//Frequency defined in conf *.xml
-void ins_periodic_task( void )
+void ahrs_update_gps( void )
 {
   // Send SW Centripetal Corrections
   uint8_t centripedal[19] = {0xae, 0xae, 0x0d, 0xaa, 0x0b, 0x02,   0x00, 0x00, 0x00, 0x00,   0x00, 0x00, 0x00, 0x00,   0x00, 0x00, 0x00, 0x00,   0xc2 };
 
   float gps_speed = 0;
 
-  if (gps.fix == GPS_FIX_3D)
-    {
-      gps_speed = gps.speed_3d/100.;
-    }
+  if (gps.fix == GPS_FIX_3D) {
+    gps_speed = gps.speed_3d/100.;
+  }
   gps_speed = FloatSwap(gps_speed);
 
   memmove (&centripedal[6], &gps_speed, 4);
@@ -118,3 +116,9 @@ void ins_periodic_task( void )
 
   // Downlink Send
 }
+
+//Frequency defined in conf *.xml
+void ins_periodic_task( void )
+{
+}
+
diff --git a/sw/airborne/modules/ins/ins_chimu_uart.c b/sw/airborne/modules/ins/ins_chimu_uart.c
index bd57f4046d..17be49bce8 100644
--- a/sw/airborne/modules/ins/ins_chimu_uart.c
+++ b/sw/airborne/modules/ins/ins_chimu_uart.c
@@ -97,3 +97,8 @@ void ins_periodic_task( void )
 {
   // Downlink Send
 }
+
+void ahrs_update_gps( void )
+{
+
+}