diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 51c82e6d56..bde0d4bb50 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -76,7 +76,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_InertialSensor,   &sub.ins,          periodic,           400,  50,  60),
     SCHED_TASK_CLASS(AP_Scheduler,        &sub.scheduler,    update_logging,     0.1,  75,  63),
 #if RPM_ENABLED == ENABLED
-    SCHED_TASK(rpm_update,            10,    200,  66),
+    SCHED_TASK_CLASS(AP_RPM,              &sub.rpm_sensor,   update               10, 200,  66),
 #endif
     SCHED_TASK_CLASS(Compass,             &sub.compass,      cal_update,         100, 100,  69),
     SCHED_TASK(terrain_update,        10,    100,  72),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index f713f9b6ae..7289ebe1fd 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -406,9 +406,6 @@ private:
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
     void update_poscon_alt_max();
     void rotate_body_frame_to_NE(float &x, float &y);
-#if RPM_ENABLED == ENABLED
-    void rpm_update();
-#endif
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
     void Log_Write_MotBatt();
diff --git a/ArduSub/sensors.cpp b/ArduSub/sensors.cpp
index bb1aca8945..278798cca2 100644
--- a/ArduSub/sensors.cpp
+++ b/ArduSub/sensors.cpp
@@ -71,19 +71,6 @@ bool Sub::rangefinder_alt_ok() const
     return (rangefinder_state.enabled && rangefinder_state.alt_healthy);
 }
 
-/*
-  update RPM sensors
- */
-#if RPM_ENABLED == ENABLED
-void Sub::rpm_update(void)
-{
-    rpm_sensor.update();
-    if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
-        logger.Write_RPM(rpm_sensor);
-    }
-}
-#endif
-
 /*
   ask airspeed sensor for a new value, duplicated from plane
  */