diff --git a/flight/INS/ins.c b/flight/INS/ins.c
index cca5c9e04..a63442436 100644
--- a/flight/INS/ins.c
+++ b/flight/INS/ins.c
@@ -223,7 +223,7 @@ int main()
 		// Get any mag data available
 		process_mag_data();
 		
-		status.IdleTimePerCyle = PIOS_DELAY_DiffuS(time_val1) / 10;
+		status.IdleTimePerCycle = PIOS_DELAY_DiffuS(time_val1);
 		
 		if(ISNAN(accel_data.filtered.x + accel_data.filtered.y + accel_data.filtered.z) ||
 		   ISNAN(gyro_data.filtered.x + gyro_data.filtered.y + gyro_data.filtered.z) ||
@@ -256,7 +256,7 @@ int main()
 				break;
 		}
 		
-		status.RunningTimePerCyle = PIOS_DELAY_DiffuS(time_val2) / 10;
+		status.RunningTimePerCycle = PIOS_DELAY_DiffuS(time_val2);
 		AhrsStatusSet(&status);
 	}
 	
diff --git a/shared/uavobjectdefinition/ahrsstatus.xml b/shared/uavobjectdefinition/ahrsstatus.xml
index 4065a88cf..2d01a71f2 100644
--- a/shared/uavobjectdefinition/ahrsstatus.xml
+++ b/shared/uavobjectdefinition/ahrsstatus.xml
@@ -4,9 +4,8 @@
         <field name="SerialNumber" units="" type="uint8" elements="8"/>
         <field name="CPULoad" units="count" type="uint8" elements="1"/>
         <field name="RunningTime" units="ms" type="uint32" elements="1"/>
-        <field name="IdleTimePerCyle" units="10x ms" type="uint8" elements="1"/>
-        <field name="RunningTimePerCyle" units="10x ms" type="uint8" elements="1"/>
-        <field name="DroppedUpdates" units="count" type="uint8" elements="1"/>
+        <field name="IdleTimePerCycle" units="us" type="uint16" elements="1"/>
+        <field name="RunningTimePerCycle" units="us" type="uint16" elements="1"/>
 
         <field name="LinkRunning" units="" type="enum" elements="1" options="FALSE,TRUE"/>
         <field name="AhrsKickstarts" units="count" type="uint8" elements="1"/>