diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index a07b3213a7..eb5bd35285 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -786,6 +786,10 @@ void loop()
         // call until scheduler.tick() is called again
         scheduler.run(19000U);
     }
+    if ((timer - fast_loopTimer_ms) <= 19) {
+        // we have plenty of time - be friendly to multi-tasking OSes
+        hal.scheduler->delay(1);
+    }
 }
 
 // Main loop 50Hz