diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 3f0134ad0e..a93ddd6e8f 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -134,7 +134,9 @@ void Sub::run_rate_controller()
 {
     //don't run rate controller in manual or motordetection modes
     if (control_mode != MANUAL && control_mode != MOTOR_DETECT) {
-        // run low level rate controllers that only require IMU data
+        // run low level rate controllers that only require IMU data and set loop time
+        attitude_control.set_dt(AP::scheduler().get_last_loop_time_s());
+        pos_control.set_dt(AP::scheduler().get_last_loop_time_s());
         attitude_control.rate_controller_run();
     }
 }
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index b3e055f1eb..bd73ce41a6 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -32,8 +32,8 @@ Sub::Sub()
           auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
           inertial_nav(ahrs),
           ahrs_view(ahrs, ROTATION_NONE),
-          attitude_control(ahrs_view, aparm, motors, scheduler.get_loop_period_s()),
-          pos_control(ahrs_view, inertial_nav, motors, attitude_control, scheduler.get_loop_period_s()),
+          attitude_control(ahrs_view, aparm, motors),
+          pos_control(ahrs_view, inertial_nav, motors, attitude_control),
           wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
           loiter_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
           circle_nav(inertial_nav, ahrs_view, pos_control),