It was introduced in Firefox 5 [1]. You can change it in about:config by tweaking "dom.min_background_timeout_value" to a lower value (in milliseconds).
Actually requestAnimationFrame is limited more (possibly even entirely paused) as it assumes that if the tab isn't visible, no animation needs to be requested
[1]: https://bugzilla.mozilla.org/show_bug.cgi?id=633421