diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
index 01154fb6c3..28545ef5aa 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
@@ -612,7 +612,7 @@ void NavEKF3_core::FuseOptFlow(const of_elements &ofDataDelayed, bool really_fus
 
             // calculate innovation for Y observation
             flowInnov[1] = losPred[1] - ofDataDelayed.flowRadXYcomp.y;
-            flowInnovTime_ms = AP_HAL::millis();
+            flowInnovTime_ms = dal.millis();
 
             // calculate Kalman gains for the Y-axis observation
             Kfusion[0] = -t78*(t12+P[0][5]*t2*t8-P[0][6]*t2*t10+P[0][1]*t2*t16-P[0][2]*t2*t19+P[0][3]*t2*t22+P[0][4]*t2*t27);
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index a7ef0ff101..9d64d5d485 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -461,7 +461,7 @@ bool NavEKF3_core::getVelInnovationsAndVariancesForSource(AP_NavEKF_Source::Sour
     switch (source) {
     case AP_NavEKF_Source::SourceXY::GPS:
         // check for timeouts
-        if (AP_HAL::millis() - gpsVelInnovTime_ms > 500) {
+        if (dal.millis() - gpsVelInnovTime_ms > 500) {
             return false;
         }
         innovations = gpsVelInnov.tofloat();
@@ -470,7 +470,7 @@ bool NavEKF3_core::getVelInnovationsAndVariancesForSource(AP_NavEKF_Source::Sour
 #if EK3_FEATURE_EXTERNAL_NAV
     case AP_NavEKF_Source::SourceXY::EXTNAV:
         // check for timeouts
-        if (AP_HAL::millis() - extNavVelInnovTime_ms > 500) {
+        if (dal.millis() - extNavVelInnovTime_ms > 500) {
             return false;
         }
         innovations = extNavVelInnov.tofloat();
@@ -479,7 +479,7 @@ bool NavEKF3_core::getVelInnovationsAndVariancesForSource(AP_NavEKF_Source::Sour
 #endif // EK3_FEATURE_EXTERNAL_NAV
     case AP_NavEKF_Source::SourceXY::OPTFLOW:
         // check for timeouts
-        if (AP_HAL::millis() - flowInnovTime_ms > 500) {
+        if (dal.millis() - flowInnovTime_ms > 500) {
             return false;
         }
         innovations.x = flowInnov[0];
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index fd1b737889..8501e7fd9f 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -442,7 +442,7 @@ void NavEKF3_core::SelectVelPosFusion()
         CalculateVelInnovationsAndVariances(extNavVelDelayed.vel, extNavVelDelayed.err, frontend->extNavVelVarAccScale, extNavVelInnov, extNavVelVarInnov);
 
         // record time innovations were calculated (for timeout checks)
-        extNavVelInnovTime_ms = AP_HAL::millis();
+        extNavVelInnovTime_ms = dal.millis();
     }
 #endif // EK3_FEATURE_EXTERNAL_NAV
 
@@ -457,7 +457,7 @@ void NavEKF3_core::SelectVelPosFusion()
         // calculate innovations and variances for reporting purposes only
         CalculateVelInnovationsAndVariances(gpsDataDelayed.vel, frontend->_gpsHorizVelNoise, frontend->gpsNEVelVarAccScale, gpsVelInnov, gpsVelVarInnov);
         // record time innovations were calculated (for timeout checks)
-        gpsVelInnovTime_ms = AP_HAL::millis();
+        gpsVelInnovTime_ms = dal.millis();
     }
 
     // detect position source changes.  Trigger position reset if position source is valid