diff --git a/libraries/AP_HAL/board/esp32.h b/libraries/AP_HAL/board/esp32.h
index b5990fd237fe33..1969a0066f67b1 100644
--- a/libraries/AP_HAL/board/esp32.h
+++ b/libraries/AP_HAL/board/esp32.h
@@ -116,3 +116,6 @@
 // other big things..
 #define HAL_QUADPLANE_ENABLED 0
 #define HAL_GYROFFT_ENABLED 0
+
+// remove once ESP32 isn't so chronically slow
+#define AP_SCHEDULER_OVERTIME_MARGIN_US 50000UL