diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index fbfa3305be..acb835b509 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -3,6 +3,8 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_Scheduler/AP_Scheduler.h>
 
+#pragma GCC optimize("O2")
+
 extern const AP_HAL::HAL& hal;
 
 #if APM_BUILD_TYPE(APM_BUILD_ArduPlane)