diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index ac78f5351e..0b87fb8ce3 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -89,7 +89,7 @@ void AP_Scheduler::tick(void)
   run one tick
   this will run as many scheduler tasks as we can in the specified time
  */
-void AP_Scheduler::run(uint16_t time_available)
+void AP_Scheduler::run(uint32_t time_available)
 {
     uint32_t run_started_usec = AP_HAL::micros();
     uint32_t now = run_started_usec;
diff --git a/libraries/AP_Scheduler/AP_Scheduler.h b/libraries/AP_Scheduler/AP_Scheduler.h
index ff7e0fc643..e549028e09 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.h
+++ b/libraries/AP_Scheduler/AP_Scheduler.h
@@ -73,7 +73,7 @@ public:
     // run the tasks. Call this once per 'tick'.
     // time_available is the amount of time available to run
     // tasks in microseconds
-    void run(uint16_t time_available);
+    void run(uint32_t time_available);
 
     // return the number of microseconds available for the current task
     uint16_t time_available_usec(void);