diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index e349aa2bf6..4361e54e86 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1001,6 +1001,9 @@ void loop()
                 gps_fix_count           = 0;
                 perf_mon_counter        = 0;
             }
+        }else{
+            // process communications with the GCS
+            gcs_check();
         }
     } else {
 #ifdef DESKTOP_BUILD
@@ -1017,11 +1020,6 @@ void loop()
                 compass.accumulate();
             }
         }
-
-        // process communications with the GCS
-        if (timer - fast_loopTimer < 6000) {
-            gcs_check();
-        }
     }
 
 }
@@ -1359,8 +1357,6 @@ static void super_slow_loop()
         auto_disarming_counter = 0;
     }
 
-    gcs_send_message(MSG_HEARTBEAT);
-
     // agmatthews - USERHOOKS
 #ifdef USERHOOK_SUPERSLOWLOOP
     USERHOOK_SUPERSLOWLOOP