diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 8f89997cb1..f03d2a5bbf 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -801,7 +801,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { arm_motors_check,     40,      1 },
     { auto_trim,            40,     14 },
     { update_altitude,      40,    100 },
-    { run_nav_updates,       4,     80 },
+    { run_nav_updates,       8,     80 },
     { update_thr_cruise,    40,     10 },
     { three_hz_loop,       133,      9 },
     { compass_accumulate,    8,     42 },
@@ -869,7 +869,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { arm_motors_check,     10,      10 },
     { auto_trim,            10,     140 },
     { update_altitude,      10,    1000 },
-    { run_nav_updates,      10,     800 },
+    { run_nav_updates,       4,     800 },
     { update_thr_cruise,     1,      50 },
     { three_hz_loop,        33,      90 },
     { compass_accumulate,    2,     420 },