One thing you could do is to increase the time slice for your onboard program. By default the time slice of every onboard program is 2 ms per watchdog period. You can increase the time slices for all your onboard programs to a total of 20 ms. If you are running only one onboard program you can set the time slice for this program to 20 ms. Use the "Load Program Time Slice.vi" that can be found in the Onboard Programming palette.
I hope this helps.
Regards,
Jochen Klier
National Instruments Germany