diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 90909334a5..c297f3b5c9 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -99,7 +99,7 @@ Copter::Copter(void) :
 #endif
 #if FRAME_CONFIG == HELI_FRAME
     // ToDo: Input Manager is only used by Heli for 3.3, but will be used by all frames for 3.4
-    input_manager(MAIN_LOOP_RATE),
+    input_manager(),
 #endif
     in_mavlink_delay(false),
     gcs_out_of_time(false),
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 360a50515c..d56a8dd6f4 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -49,7 +49,6 @@
 #define MAGNETOMETER ENABLED
 
 // run at 400Hz on all systems
-# define MAIN_LOOP_RATE    400
 # define MAIN_LOOP_SECONDS 0.0025f
 
 #ifndef ARMING_DELAY_SEC
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 19c06243b4..5791bf0809 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -117,7 +117,10 @@ void Copter::init_ardupilot()
     // trad heli specific initialisation
     heli_init();
 #endif
-    
+#if FRAME_CONFIG == HELI_FRAME
+    input_manager.set_loop_rate(scheduler.get_loop_rate_hz());
+#endif
+
     init_rc_in();               // sets up rc channels from radio
 
     // default frame class to match firmware if possible
@@ -515,36 +518,36 @@ void Copter::allocate_motors(void)
         case AP_Motors::MOTOR_FRAME_OCTAQUAD:
         case AP_Motors::MOTOR_FRAME_DODECAHEXA:
         default:
-            motors = new AP_MotorsMatrix(MAIN_LOOP_RATE);
+            motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz());
             motors_var_info = AP_MotorsMatrix::var_info;
             break;
         case AP_Motors::MOTOR_FRAME_TRI:
-            motors = new AP_MotorsTri(MAIN_LOOP_RATE);
+            motors = new AP_MotorsTri(copter.scheduler.get_loop_rate_hz());
             motors_var_info = AP_MotorsTri::var_info;
             AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
             break;
         case AP_Motors::MOTOR_FRAME_SINGLE:
-            motors = new AP_MotorsSingle(MAIN_LOOP_RATE);
+            motors = new AP_MotorsSingle(copter.scheduler.get_loop_rate_hz());
             motors_var_info = AP_MotorsSingle::var_info;
             break;
         case AP_Motors::MOTOR_FRAME_COAX:
-            motors = new AP_MotorsCoax(MAIN_LOOP_RATE);
+            motors = new AP_MotorsCoax(copter.scheduler.get_loop_rate_hz());
             motors_var_info = AP_MotorsCoax::var_info;
             break;
         case AP_Motors::MOTOR_FRAME_TAILSITTER:
-            motors = new AP_MotorsTailsitter(MAIN_LOOP_RATE);
+            motors = new AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz());
             motors_var_info = AP_MotorsTailsitter::var_info;
             break;
 #else // FRAME_CONFIG == HELI_FRAME
         case AP_Motors::MOTOR_FRAME_HELI_DUAL:
-            motors = new AP_MotorsHeli_Dual(MAIN_LOOP_RATE);
+            motors = new AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz());
             motors_var_info = AP_MotorsHeli_Dual::var_info;
             AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
             break;
             
         case AP_Motors::MOTOR_FRAME_HELI:
         default:
-            motors = new AP_MotorsHeli_Single(MAIN_LOOP_RATE);
+            motors = new AP_MotorsHeli_Single(copter.scheduler.get_loop_rate_hz());
             motors_var_info = AP_MotorsHeli_Single::var_info;
             AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
             break;