diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index f763182615..a939d9f7ec 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -104,7 +104,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(auto_disarm_check,     10,     50),
     SCHED_TASK(auto_trim,             10,     75),
 #if RANGEFINDER_ENABLED == ENABLED
-    SCHED_TASK(read_rangefinder,      50,    100),
+    SCHED_TASK(read_rangefinder,      20,    100),
 #endif
 #if PROXIMITY_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Proximity,         &copter.g2.proximity,        update,         100,  50),
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index e9d51bd467..4517cbde03 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -82,7 +82,7 @@ void Copter::read_rangefinder(void)
                 // reset filter if we haven't used it within the last second
                 rf_state.alt_cm_filt.reset(rf_state.alt_cm);
             } else {
-                rf_state.alt_cm_filt.apply(rf_state.alt_cm, 0.02f);
+                rf_state.alt_cm_filt.apply(rf_state.alt_cm, 0.05f);
             }
             rf_state.last_healthy_ms = now;
         }