diff --git a/libraries/AP_Winch/AP_Winch_Daiwa.cpp b/libraries/AP_Winch/AP_Winch_Daiwa.cpp
index d660d15e38..a213b38907 100644
--- a/libraries/AP_Winch/AP_Winch_Daiwa.cpp
+++ b/libraries/AP_Winch/AP_Winch_Daiwa.cpp
@@ -184,7 +184,7 @@ void AP_Winch_Daiwa::read_data_from_winch()
 void AP_Winch_Daiwa::control_winch()
 {
     const uint32_t now_ms = AP_HAL::millis();
-    float dt = (now_ms - control_update_ms) / 1000.0f;
+    float dt = (now_ms - control_update_ms) * 0.001f;
     if (dt > 1.0f) {
         dt = 0.0f;
     }
diff --git a/libraries/AP_Winch/AP_Winch_PWM.cpp b/libraries/AP_Winch/AP_Winch_PWM.cpp
index f778255926..7a26f931de 100644
--- a/libraries/AP_Winch/AP_Winch_PWM.cpp
+++ b/libraries/AP_Winch/AP_Winch_PWM.cpp
@@ -32,7 +32,7 @@ void AP_Winch_PWM::update()
 void AP_Winch_PWM::control_winch()
 {
     const uint32_t now_ms = AP_HAL::millis();
-    float dt = (now_ms - control_update_ms) / 1000.0f;
+    float dt = (now_ms - control_update_ms) * 0.001f;
     if (dt > 1.0f) {
         dt = 0.0f;
     }