diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index 6228d37214..4201cf4e76 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -215,7 +215,10 @@ void Scheduler::_run_io_procs(bool called_from_isr)
 void Scheduler::stop_clock(uint64_t time_usec)
 {
     _stopped_clock_usec = time_usec;
-    _run_io_procs(false);
+    if (time_usec - _last_io_run > 10000) {
+        _last_io_run = time_usec;
+        _run_io_procs(false);
+    }
 }
 
 #endif
diff --git a/libraries/AP_HAL_SITL/Scheduler.h b/libraries/AP_HAL_SITL/Scheduler.h
index b1bce958a8..14595243cd 100644
--- a/libraries/AP_HAL_SITL/Scheduler.h
+++ b/libraries/AP_HAL_SITL/Scheduler.h
@@ -73,5 +73,6 @@ private:
 
     bool _initialized;
     uint64_t _stopped_clock_usec;
+    uint64_t _last_io_run;
 };
 #endif  // CONFIG_HAL_BOARD