diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index a8a98fd0c1..f467ed9072 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -137,40 +137,44 @@ void AP_Scheduler::run(uint32_t time_available)
                   (unsigned)_task_time_allowed);
         }
 
-        if (_task_time_allowed <= time_available) {
-            // run it
-            _task_time_started = now;
-            current_task = i;
-            if (_debug > 1 && _perf_counters && _perf_counters[i]) {
-                hal.util->perf_begin(_perf_counters[i]);
-            }
-            _tasks[i].function();
-            if (_debug > 1 && _perf_counters && _perf_counters[i]) {
-                hal.util->perf_end(_perf_counters[i]);
-            }
-            current_task = -1;
-
-            // record the tick counter when we ran. This drives
-            // when we next run the event
-            _last_run[i] = _tick_counter;
-
-            // work out how long the event actually took
-            now = AP_HAL::micros();
-            uint32_t time_taken = now - _task_time_started;
-
-            if (time_taken > _task_time_allowed) {
-                // the event overran!
-                debug(3, "Scheduler overrun task[%u-%s] (%u/%u)\n",
-                      (unsigned)i,
-                      _tasks[i].name,
-                      (unsigned)time_taken,
-                      (unsigned)_task_time_allowed);
-            }
-            if (time_taken >= time_available) {
-                goto update_spare_ticks;
-            }
-            time_available -= time_taken;
+        if (_task_time_allowed > time_available) {
+            // not enough time to run this task.  Continue loop -
+            // maybe another task will fit into time remaining
+            continue;
         }
+
+        // run it
+        _task_time_started = now;
+        current_task = i;
+        if (_debug > 1 && _perf_counters && _perf_counters[i]) {
+            hal.util->perf_begin(_perf_counters[i]);
+        }
+        _tasks[i].function();
+        if (_debug > 1 && _perf_counters && _perf_counters[i]) {
+            hal.util->perf_end(_perf_counters[i]);
+        }
+        current_task = -1;
+
+        // record the tick counter when we ran. This drives
+        // when we next run the event
+        _last_run[i] = _tick_counter;
+
+        // work out how long the event actually took
+        now = AP_HAL::micros();
+        uint32_t time_taken = now - _task_time_started;
+
+        if (time_taken > _task_time_allowed) {
+            // the event overran!
+            debug(3, "Scheduler overrun task[%u-%s] (%u/%u)\n",
+                  (unsigned)i,
+                  _tasks[i].name,
+                  (unsigned)time_taken,
+                  (unsigned)_task_time_allowed);
+        }
+        if (time_taken >= time_available) {
+            goto update_spare_ticks;
+        }
+        time_available -= time_taken;
     }
 
     // update number of spare microseconds