diff --git a/libraries/AP_HAL_QURT/Scheduler.cpp b/libraries/AP_HAL_QURT/Scheduler.cpp
index 07396498c9..214fcb1993 100644
--- a/libraries/AP_HAL_QURT/Scheduler.cpp
+++ b/libraries/AP_HAL_QURT/Scheduler.cpp
@@ -80,20 +80,11 @@ void Scheduler::delay(uint16_t ms)
     while (((now=AP_HAL::micros64()) - start)/1000 < ms) {
         delay_microseconds(1000);
         if (_min_delay_cb_ms <= ms) {
-            if (_delay_cb) {
-                _delay_cb();
-            }
+            call_delay_cb();
         }
     }
 }
 
-void Scheduler::register_delay_callback(AP_HAL::Proc proc,
-                                            uint16_t min_time_ms) 
-{
-    _delay_cb = proc;
-    _min_delay_cb_ms = min_time_ms;
-}
-
 void Scheduler::register_timer_process(AP_HAL::MemberProc proc) 
 {
     for (uint8_t i = 0; i < _num_timer_procs; i++) {
diff --git a/libraries/AP_HAL_QURT/Scheduler.h b/libraries/AP_HAL_QURT/Scheduler.h
index 7613646937..ce1bdb24d2 100644
--- a/libraries/AP_HAL_QURT/Scheduler.h
+++ b/libraries/AP_HAL_QURT/Scheduler.h
@@ -23,7 +23,6 @@ public:
     void     init();
     void     delay(uint16_t ms);
     void     delay_microseconds(uint16_t us);
-    void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
     void     register_timer_process(AP_HAL::MemberProc);
     void     register_io_process(AP_HAL::MemberProc);
     void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);