diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index ec1631231b..90e63b5589 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -258,11 +258,11 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         return false;
     }
 
-    // if we don't have at least 1ms remaining before the main loop
+    // if we don't have at least 0.2ms remaining before the main loop
     // wants to fire then don't send a mavlink message. We want to
     // prioritise the main flight control loop over communications
     if (!hal.scheduler->in_delay_callback() &&
-        rover.scheduler.time_available_usec() < 1200) {
+        rover.scheduler.time_available_usec() < 200) {
         gcs().set_out_of_time(true);
         return false;
     }