diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index ec5246ae162e4..c03b89b0e79af 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -142,7 +142,7 @@ void Scheduler::delay_microseconds(uint16_t usec)
         // calling with ticks == 0 causes a hard fault on ChibiOS
         ticks = 1;
     }
-    chThdSleep(ticks); //Suspends Thread for desired microseconds
+    chThdSleep(MAX(ticks,CH_CFG_ST_TIMEDELTA)); //Suspends Thread for desired microseconds
 }
 
 /*
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
index 37e19c21c6b03..966e05ecb81f8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
@@ -119,7 +119,7 @@ extern "C" {
  *          this value.
  */
 #ifndef CH_CFG_ST_TIMEDELTA
-#define CH_CFG_ST_TIMEDELTA                 2
+#define CH_CFG_ST_TIMEDELTA                 10
 #endif
 
 /*