diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 57f4d7b808..0016c8aa3e 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -198,7 +198,7 @@ void Copter::perf_update(void)
 void Copter::loop()
 {
     scheduler.loop();
-    G_Dt = scheduler.last_loop_time;
+    G_Dt = scheduler.get_filtered_loop_time();
 }