diff --git a/libraries/SITL/SIM_Battery.cpp b/libraries/SITL/SIM_Battery.cpp
index 4517ee5d6a5..2ca27494b44 100644
--- a/libraries/SITL/SIM_Battery.cpp
+++ b/libraries/SITL/SIM_Battery.cpp
@@ -178,19 +178,17 @@ void Battery::consume_energy(float current_amp, uint64_t now_us)
 
     voltage_filter.apply(voltage, dt);
 
-    update_temperature(current_amp, now_us);
+    update_temperature(current_amp, dt);
 }
 
-void Battery::update_temperature(float current_amp, uint64_t now_us)
+void Battery::update_temperature(float current_amp, float dt)
 {
-    const uint64_t temperature_dt = now_us - temperature.last_update_us;
-    temperature.last_update_us = now_us;
     // thermal_capacity value chosen to match previous steady-state behavior at 28amps
     // (reminder: thermal_capacity = mass * specific_heat)
     constexpr float thermal_capacity = 2.8f;  // watt*seconds/degC
     constexpr float inverse_of_thermal_capacity = 1 / thermal_capacity;  // use inverse so we can multiply, not divide
-    const float temp_increase = (current_amp * current_amp) * resistance_ohm * inverse_of_thermal_capacity * (temperature_dt * 0.000001);
+    const float temp_increase = (current_amp * current_amp) * resistance_ohm * inverse_of_thermal_capacity * dt;
     // decay temperature at some %second towards ambient
-    const float temp_decrease = (temperature.kelvin - 273.15f) * 0.10 * temperature_dt * 0.000001;
+    const float temp_decrease = (temperature.kelvin - 273.15f) * 0.10 * dt;
     temperature.kelvin += (temp_increase - temp_decrease);
 }
diff --git a/libraries/SITL/SIM_Battery.h b/libraries/SITL/SIM_Battery.h
index 09e98cc546e..047a25e1d05 100644
--- a/libraries/SITL/SIM_Battery.h
+++ b/libraries/SITL/SIM_Battery.h
@@ -51,9 +51,8 @@ private:
 
     struct {
         float kelvin = 273;
-        uint64_t last_update_us;
     } temperature;
-    void update_temperature(float current_amp, uint64_t now_us);
+    void update_temperature(float current_amp, float dt);
 
     // 10Hz filter for battery voltage
     LowPassFilterFloat voltage_filter{10};