diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index c34c8611aa..765d022efe 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -760,8 +760,7 @@ void Plane::calc_nav_roll()
 
         float bank_limit = degrees(atanf(guided_state.target_heading_accel_limit/GRAVITY_MSS)) * 1e2f;
 
-        g2.guidedHeading.update_error(error); // push error into AC_PID , possible improvement is to use update_all instead.?
-        g2.guidedHeading.set_dt(delta);
+        g2.guidedHeading.update_error(error, delta); // push error into AC_PID , possible improvement is to use update_all instead.?
 
         float i = g2.guidedHeading.get_i(); // get integrator TODO
         if (((is_negative(error) && !guided_state.target_heading_limit_low) || (is_positive(error) && !guided_state.target_heading_limit_high))) {
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 3cda278dfa..808a145621 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -607,7 +607,6 @@ bool QuadPlane::setup(void)
     if (!enable || hal.util->get_soft_armed()) {
         return false;
     }
-    float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz();
 
     /*
       cope with upgrade from old AP_Motors values for frame_class
@@ -716,13 +715,13 @@ bool QuadPlane::setup(void)
         AP_BoardConfig::allocation_error("ahrs_view");
     }
 
-    attitude_control = new AC_AttitudeControl_TS(*ahrs_view, aparm, *motors, loop_delta_t);
+    attitude_control = new AC_AttitudeControl_TS(*ahrs_view, aparm, *motors);
     if (!attitude_control) {
         AP_BoardConfig::allocation_error("attitude_control");
     }
 
     AP_Param::load_object_from_eeprom(attitude_control, attitude_control->var_info);
-    pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control, loop_delta_t);
+    pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
     if (!pos_control) {
         AP_BoardConfig::allocation_error("pos_control");
     }
@@ -1986,6 +1985,9 @@ void QuadPlane::motors_output(bool run_rate_controller)
             // relax if have been inactive
             relax_attitude_control();
         }
+        // run low level rate controllers that only require IMU data and set loop time
+        attitude_control->set_dt(AP::scheduler().get_last_loop_time_s());
+        pos_control->set_dt(AP::scheduler().get_last_loop_time_s());
         attitude_control->rate_controller_run();
         last_att_control_ms = now;
     }