Rangefinder not updating

I recently added the Maxbotix I2C Rangefinder to my Navio2 quadcopter and am having some issues with the update rate. When I look at the value for the distance reading in mission planner, it rarely updates, or if it does, lags severely behind the actual movements. To debug this I modified and ran the example program in libraries/AP_RangeFinder/examples/RFIND_test for the maxbotix i2c sensor. Located here. However, the same slow updating is seen here. When I remove the hal.scheduler->delay(100); line, the sensor seems to update accurately.
Any advice how I can get this type of data in arducopter properly?