diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index e797a52d58..1a575358f3 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -1,5 +1,22 @@
 #include "Copter.h"
 
+/*************************************************************
+ *  Attitude Rate controllers and timing
+ ****************************************************************/
+
+// update rate controllers and output to roll, pitch and yaw actuators
+//  called at 400hz by default
+void Copter::run_rate_controller()
+{
+    // set attitude and position controller loop time
+    const float last_loop_time_s = AP::scheduler().get_last_loop_time_s();
+    attitude_control->set_dt(last_loop_time_s);
+    pos_control->set_dt(last_loop_time_s);
+
+    // run low level rate controllers that only require IMU data
+    attitude_control->rate_controller_run(); 
+}
+
 /*************************************************************
  *  throttle control
  ****************************************************************/
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 6ba09a709f..180e9d75fd 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -694,7 +694,7 @@ private:
     void set_accel_throttle_I_from_pilot_throttle();
     void rotate_body_frame_to_NE(float &x, float &y);
     uint16_t get_pilot_speed_dn() const;
-    void run_rate_controller() { attitude_control->rate_controller_run(); }
+    void run_rate_controller();
 
 #if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
     void run_custom_controller() { custom_control.update(); }
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 918160dad4..eaa74c838f 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -448,15 +448,15 @@ void Copter::allocate_motors(void)
 #if FRAME_CONFIG != HELI_FRAME
     if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
 #if AP_SCRIPTING_ENABLED
-        attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
+        attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors);
         ac_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
 #endif // AP_SCRIPTING_ENABLED
     } else {
-        attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
+        attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors);
         ac_var_info = AC_AttitudeControl_Multi::var_info;
     }
 #else
-    attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors, scheduler.get_loop_period_s());
+    attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors);
     ac_var_info = AC_AttitudeControl_Heli::var_info;
 #endif
     if (attitude_control == nullptr) {
@@ -464,7 +464,7 @@ void Copter::allocate_motors(void)
     }
     AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
         
-    pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control, scheduler.get_loop_period_s());
+    pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
     if (pos_control == nullptr) {
         AP_BoardConfig::allocation_error("PosControl");
     }