diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 0cd341fb4c..fef63bfef5 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -24,7 +24,10 @@
 
 #include "Plane.h"
 
-#define SCHED_TASK(func) FUNCTOR_BIND(&plane, &Plane::func, void)
+#define SCHED_TASK(func, _interval_ticks, _max_time_micros) {\
+    .function = FUNCTOR_BIND(&plane, &Plane::func, void),\
+    .interval_ticks = _interval_ticks,\
+    .max_time_micros = _max_time_micros}
 
 /*
   scheduler table - all regular tasks are listed here, along with how
@@ -32,49 +35,49 @@
   they are expected to take (in microseconds)
  */
 const AP_Scheduler::Task Plane::scheduler_tasks[] PROGMEM = {
-    { SCHED_TASK(read_radio),             1,    700 }, // 0
-    { SCHED_TASK(check_short_failsafe),   1,   1000 },
-    { SCHED_TASK(ahrs_update),            1,   6400 },
-    { SCHED_TASK(update_speed_height),    1,   1600 },
-    { SCHED_TASK(update_flight_mode),     1,   1400 },
-    { SCHED_TASK(stabilize),              1,   3500 },
-    { SCHED_TASK(set_servos),             1,   1600 },
-    { SCHED_TASK(read_control_switch),    7,   1000 },
-    { SCHED_TASK(gcs_retry_deferred),     1,   1000 },
-    { SCHED_TASK(update_GPS_50Hz),        1,   2500 },
-    { SCHED_TASK(update_GPS_10Hz),        5,   2500 }, // 10
-    { SCHED_TASK(navigate),               5,   3000 },
-    { SCHED_TASK(update_compass),         5,   1200 },
-    { SCHED_TASK(read_airspeed),          5,   1200 },
-    { SCHED_TASK(update_alt),             5,   3400 },
-    { SCHED_TASK(adjust_altitude_target), 5,   1000 },
-    { SCHED_TASK(obc_fs_check),           5,   1000 },
-    { SCHED_TASK(gcs_update),             1,   1700 },
-    { SCHED_TASK(gcs_data_stream_send),   1,   3000 },
-    { SCHED_TASK(update_events),		  1,   1500 }, // 20
-    { SCHED_TASK(check_usb_mux),          5,    300 },
-    { SCHED_TASK(read_battery),           5,   1000 },
-    { SCHED_TASK(compass_accumulate),     1,   1500 },
-    { SCHED_TASK(barometer_accumulate),   1,    900 },
-    { SCHED_TASK(update_notify),          1,    300 },
-    { SCHED_TASK(read_rangefinder),       1,    500 },
+    SCHED_TASK(read_radio,              1,    700), // 0
+    SCHED_TASK(check_short_failsafe,    1,   1000),
+    SCHED_TASK(ahrs_update,             1,   6400),
+    SCHED_TASK(update_speed_height,     1,   1600),
+    SCHED_TASK(update_flight_mode,      1,   1400),
+    SCHED_TASK(stabilize,               1,   3500),
+    SCHED_TASK(set_servos,              1,   1600),
+    SCHED_TASK(read_control_switch,     7,   1000),
+    SCHED_TASK(gcs_retry_deferred,      1,   1000),
+    SCHED_TASK(update_GPS_50Hz,         1,   2500),
+    SCHED_TASK(update_GPS_10Hz,         5,   2500), // 10
+    SCHED_TASK(navigate,                5,   3000),
+    SCHED_TASK(update_compass,          5,   1200),
+    SCHED_TASK(read_airspeed,           5,   1200),
+    SCHED_TASK(update_alt,              5,   3400),
+    SCHED_TASK(adjust_altitude_target,  5,   1000),
+    SCHED_TASK(obc_fs_check,            5,   1000),
+    SCHED_TASK(gcs_update,              1,   1700),
+    SCHED_TASK(gcs_data_stream_send,    1,   3000),
+    SCHED_TASK(update_events,           1,   1500), // 20
+    SCHED_TASK(check_usb_mux,           5,    300),
+    SCHED_TASK(read_battery,            5,   1000),
+    SCHED_TASK(compass_accumulate,      1,   1500),
+    SCHED_TASK(barometer_accumulate,    1,    900),
+    SCHED_TASK(update_notify,           1,    300),
+    SCHED_TASK(read_rangefinder,        1,    500),
 #if OPTFLOW == ENABLED
-    { SCHED_TASK(update_optical_flow),    1,    500 },
+    SCHED_TASK(update_optical_flow,     1,    500),
 #endif
-    { SCHED_TASK(one_second_loop),       50,   1000 },
-    { SCHED_TASK(check_long_failsafe),   15,   1000 },
-    { SCHED_TASK(read_receiver_rssi),     5,   1000 },
-    { SCHED_TASK(airspeed_ratio_update), 50,   1000 }, // 30
-    { SCHED_TASK(update_mount),           1,   1500 },
-    { SCHED_TASK(log_perf_info),        500,   1000 },
-    { SCHED_TASK(compass_save),        3000,   2500 },
-    { SCHED_TASK(update_logging1),        5,   1700 },
-    { SCHED_TASK(update_logging2),        5,   1700 },
+    SCHED_TASK(one_second_loop,        50,   1000),
+    SCHED_TASK(check_long_failsafe,    15,   1000),
+    SCHED_TASK(read_receiver_rssi,      5,   1000),
+    SCHED_TASK(airspeed_ratio_update,  50,   1000), // 30
+    SCHED_TASK(update_mount,            1,   1500),
+    SCHED_TASK(log_perf_info,         500,   1000),
+    SCHED_TASK(compass_save,         3000,   2500),
+    SCHED_TASK(update_logging1,         5,   1700),
+    SCHED_TASK(update_logging2,         5,   1700),
 #if FRSKY_TELEM_ENABLED == ENABLED
-    { SCHED_TASK(frsky_telemetry_send),  10,    100 },
+    SCHED_TASK(frsky_telemetry_send,   10,    100),
 #endif
-    { SCHED_TASK(terrain_update),         5,    500 },
-    { SCHED_TASK(update_is_flying_5Hz),  10,    100 },
+    SCHED_TASK(terrain_update,          5,    500),
+    SCHED_TASK(update_is_flying_5Hz,   10,    100),
 };
 
 void Plane::setup()