diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index 7d21cf015a..57f938a616 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -347,7 +347,8 @@ void AP_Scheduler::loop()
     _rsem.take_blocking();
     hal.util->persistent_data.scheduler_task = -1;
 
-    const uint32_t sample_time_us = AP_HAL::micros();
+    _loop_sample_time_us = AP_HAL::micros64();
+    const uint32_t sample_time_us = uint32_t(_loop_sample_time_us);
     
     if (_loop_timer_start_us == 0) {
         _loop_timer_start_us = sample_time_us;
diff --git a/libraries/AP_Scheduler/AP_Scheduler.h b/libraries/AP_Scheduler/AP_Scheduler.h
index bf15592d49..baf5534d62 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.h
+++ b/libraries/AP_Scheduler/AP_Scheduler.h
@@ -176,6 +176,11 @@ public:
         return _last_loop_time_s;
     }
 
+    // get the time in microseconds that the current loop started
+    uint64_t get_loop_start_time_us(void) const {
+        return _loop_sample_time_us;
+    }
+
     // get the amount of extra time being added on each loop
     uint32_t get_extra_loop_us(void) const {
         return extra_loop_us;
@@ -240,12 +245,15 @@ private:
     // number of ticks that _spare_micros is counted over
     uint8_t _spare_ticks;
 
-    // start of loop timing
+    // start of previous loop
     uint32_t _loop_timer_start_us;
 
     // time of last loop in seconds
     float _last_loop_time_s;
-    
+
+    // start of current loop
+    uint64_t _loop_sample_time_us;
+
     // bitmask bit which indicates if we should log PERF message
     uint32_t _log_performance_bit;