diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index 754a930abf..fe575a04e8 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -42,8 +42,6 @@ public:
     virtual void     suspend_timer_procs() = 0;
     virtual void     resume_timer_procs() = 0;
 
-    virtual bool     in_timerprocess() = 0;
-    
     virtual void     register_timer_failsafe(AP_HAL::Proc,
                                              uint32_t period_us) = 0;
 
diff --git a/libraries/AP_HAL_Empty/Scheduler.cpp b/libraries/AP_HAL_Empty/Scheduler.cpp
index 576c42ba9f..53e70b6ef2 100644
--- a/libraries/AP_HAL_Empty/Scheduler.cpp
+++ b/libraries/AP_HAL_Empty/Scheduler.cpp
@@ -38,10 +38,6 @@ void Scheduler::suspend_timer_procs()
 void Scheduler::resume_timer_procs()
 {}
 
-bool Scheduler::in_timerprocess() {
-    return false;
-}
-
 void Scheduler::system_initialized()
 {}
 
diff --git a/libraries/AP_HAL_Empty/Scheduler.h b/libraries/AP_HAL_Empty/Scheduler.h
index 3a97dffe3e..9d98f55176 100644
--- a/libraries/AP_HAL_Empty/Scheduler.h
+++ b/libraries/AP_HAL_Empty/Scheduler.h
@@ -16,8 +16,6 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
 
-    bool     in_timerprocess();
-
     void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
 
     void     system_initialized();
diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index b3902f8500..e9da93399a 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -348,11 +348,6 @@ void Scheduler::_io_task()
     _run_io();
 }
 
-bool Scheduler::in_timerprocess()
-{
-    return _in_timer_proc;
-}
-
 bool Scheduler::in_main_thread()
 {
     return pthread_equal(pthread_self(), _main_ctx);
diff --git a/libraries/AP_HAL_Linux/Scheduler.h b/libraries/AP_HAL_Linux/Scheduler.h
index 645e234e12..b36ab982a9 100644
--- a/libraries/AP_HAL_Linux/Scheduler.h
+++ b/libraries/AP_HAL_Linux/Scheduler.h
@@ -35,7 +35,6 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
 
-    bool     in_timerprocess();
     bool     in_main_thread();
 
     void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index 1ad473f7ab..8441b9046b 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -443,11 +443,6 @@ void *PX4Scheduler::_uavcan_thread(void *arg)
 }
 #endif
 
-bool PX4Scheduler::in_timerprocess()
-{
-    return getpid() != _main_task_pid;
-}
-
 bool PX4Scheduler::in_main_thread()
 {
     return getpid() == _main_task_pid;
diff --git a/libraries/AP_HAL_PX4/Scheduler.h b/libraries/AP_HAL_PX4/Scheduler.h
index e09715740b..4ca33698c9 100644
--- a/libraries/AP_HAL_PX4/Scheduler.h
+++ b/libraries/AP_HAL_PX4/Scheduler.h
@@ -58,7 +58,6 @@ public:
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
 
-    bool     in_timerprocess();
     bool     in_main_thread();
     void     system_initialized();
     void     hal_initialized() { _hal_initialized = true; }
diff --git a/libraries/AP_HAL_QURT/Scheduler.cpp b/libraries/AP_HAL_QURT/Scheduler.cpp
index 3d98231f91..d66a66db78 100644
--- a/libraries/AP_HAL_QURT/Scheduler.cpp
+++ b/libraries/AP_HAL_QURT/Scheduler.cpp
@@ -261,11 +261,6 @@ void *Scheduler::_io_thread(void *arg)
     return nullptr;
 }
 
-bool Scheduler::in_timerprocess() 
-{
-    return getpid() != _main_task_pid;
-}
-
 bool Scheduler::in_main_thread()
 {
     return getpid() == _main_task_pid;
diff --git a/libraries/AP_HAL_QURT/Scheduler.h b/libraries/AP_HAL_QURT/Scheduler.h
index 1bfced3071..385e2a58f4 100644
--- a/libraries/AP_HAL_QURT/Scheduler.h
+++ b/libraries/AP_HAL_QURT/Scheduler.h
@@ -32,7 +32,6 @@ public:
     void     reboot(bool hold_in_bootloader);
 
     bool     in_main_thread();
-    bool     in_timerprocess();
     void     system_initialized();
     void     hal_initialized();
     
diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index 6144e81790..6228d37214 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -111,10 +111,6 @@ void Scheduler::resume_timer_procs() {
     }
 }
 
-bool Scheduler::in_timerprocess() {
-    return _in_timer_proc || _in_io_proc;
-}
-
 void Scheduler::system_initialized() {
     if (_initialized) {
         AP_HAL::panic(
diff --git a/libraries/AP_HAL_SITL/Scheduler.h b/libraries/AP_HAL_SITL/Scheduler.h
index 56805ce52c..af0ea8ad09 100644
--- a/libraries/AP_HAL_SITL/Scheduler.h
+++ b/libraries/AP_HAL_SITL/Scheduler.h
@@ -27,8 +27,6 @@ public:
     void suspend_timer_procs();
     void resume_timer_procs();
 
-    bool in_timerprocess();
-
     void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
 
     void system_initialized();
diff --git a/libraries/AP_HAL_VRBRAIN/Scheduler.cpp b/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
index c9df6edd36..f5ffba79f2 100644
--- a/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
+++ b/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
@@ -370,11 +370,6 @@ void *VRBRAINScheduler::_storage_thread(void *arg)
     return nullptr;
 }
 
-bool VRBRAINScheduler::in_timerprocess()
-{
-    return getpid() != _main_task_pid;
-}
-
 bool VRBRAINScheduler::in_main_thread()
 {
     return getpid() == _main_task_pid;
diff --git a/libraries/AP_HAL_VRBRAIN/Scheduler.h b/libraries/AP_HAL_VRBRAIN/Scheduler.h
index add172f921..4ae9058b21 100644
--- a/libraries/AP_HAL_VRBRAIN/Scheduler.h
+++ b/libraries/AP_HAL_VRBRAIN/Scheduler.h
@@ -55,7 +55,6 @@ public:
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
 
-    bool     in_timerprocess();
     void     system_initialized();
     void     hal_initialized() { _hal_initialized = true; }