diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index 4f456aba4c..4de6c06071 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -503,7 +503,7 @@ float AR_AttitudeControl::get_throttle_out_from_pitch(float desired_pitch, bool
     const uint32_t now = AP_HAL::millis();
 
     // if not called recently, reset input filter
-    if ((_balance_last_ms == 0) || ((now - _balance_last_ms) > (AR_ATTCONTROL_TIMEOUT_MS / 1000.0f))) {
+    if ((_balance_last_ms == 0) || ((now - _balance_last_ms) > (AR_ATTCONTROL_TIMEOUT_MS))) {
         _pitch_to_throttle_pid.reset_filter();
     } else {
         _pitch_to_throttle_pid.set_dt(dt);