diff --git a/AntennaTracker/servos.cpp b/AntennaTracker/servos.cpp
index 014dcaee7c..23e1e0cab5 100644
--- a/AntennaTracker/servos.cpp
+++ b/AntennaTracker/servos.cpp
@@ -74,7 +74,7 @@ void Tracker::update_pitch_position_servo()
     // PITCH2SRV_IMAX   4000.000000
 
     // calculate new servo position
-    float new_servo_out = SRV_Channels::get_output_scaled(SRV_Channel::k_tracker_pitch) + g.pidPitch2Srv.update_error(nav_status.angle_error_pitch);
+    float new_servo_out = SRV_Channels::get_output_scaled(SRV_Channel::k_tracker_pitch) + g.pidPitch2Srv.update_error(nav_status.angle_error_pitch, G_Dt);
 
     // position limit pitch servo
     if (new_servo_out <= pitch_min_cd) {
@@ -125,7 +125,7 @@ void Tracker::update_pitch_onoff_servo(float pitch) const
 */
 void Tracker::update_pitch_cr_servo(float pitch)
 {
-    const float pitch_out = constrain_float(g.pidPitch2Srv.update_error(nav_status.angle_error_pitch), -(-g.pitch_min+g.pitch_max) * 100/2, (-g.pitch_min+g.pitch_max) * 100/2);
+    const float pitch_out = constrain_float(g.pidPitch2Srv.update_error(nav_status.angle_error_pitch, G_Dt), -(-g.pitch_min+g.pitch_max) * 100/2, (-g.pitch_min+g.pitch_max) * 100/2);
     SRV_Channels::set_output_scaled(SRV_Channel::k_tracker_pitch, pitch_out);
 }
 
@@ -187,7 +187,7 @@ void Tracker::update_yaw_position_servo()
       right direction
      */
 
-    float servo_change = g.pidYaw2Srv.update_error(nav_status.angle_error_yaw);
+    float servo_change = g.pidYaw2Srv.update_error(nav_status.angle_error_yaw, G_Dt);
     servo_change = constrain_float(servo_change, -18000, 18000);
     float new_servo_out = constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_tracker_yaw) + servo_change, -18000, 18000);
 
@@ -238,6 +238,6 @@ void Tracker::update_yaw_onoff_servo(float yaw) const
  */
 void Tracker::update_yaw_cr_servo(float yaw)
 {
-    const float yaw_out = constrain_float(-g.pidYaw2Srv.update_error(nav_status.angle_error_yaw), -g.yaw_range * 100/2, g.yaw_range * 100/2);
+    const float yaw_out = constrain_float(-g.pidYaw2Srv.update_error(nav_status.angle_error_yaw, G_Dt), -g.yaw_range * 100/2, g.yaw_range * 100/2);
     SRV_Channels::set_output_scaled(SRV_Channel::k_tracker_yaw, yaw_out);
 }