diff --git a/libraries/AP_ADC/AP_ADC_ADS1115.cpp b/libraries/AP_ADC/AP_ADC_ADS1115.cpp
index a14271c511..4f406771b9 100644
--- a/libraries/AP_ADC/AP_ADC_ADS1115.cpp
+++ b/libraries/AP_ADC/AP_ADC_ADS1115.cpp
@@ -188,7 +188,7 @@ float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
         default:
             pga = 0.0f;
             hal.console->printf("Wrong gain");
-            hal.scheduler->panic("ADS1115: wrong gain selected");
+            AP_HAL::panic("ADS1115: wrong gain selected");
             break;
     }
 
@@ -198,7 +198,7 @@ float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
 void AP_ADC_ADS1115::_update() 
 {
     /* TODO: make update rate configurable */
-    if (hal.scheduler->micros() - _last_update_timestamp < 100000) {
+    if (AP_HAL::micros() - _last_update_timestamp < 100000) {
         return;
     }
 
@@ -241,5 +241,5 @@ void AP_ADC_ADS1115::_update()
 
     _i2c_sem->give();
 
-    _last_update_timestamp = hal.scheduler->micros();
+    _last_update_timestamp = AP_HAL::micros();
 }
diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.cpp b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
index 274764d226..3a48ab99c0 100644
--- a/libraries/AP_ADC/AP_ADC_ADS7844.cpp
+++ b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
@@ -90,7 +90,7 @@ void AP_ADC_ADS7844::read(void)
     if (!got) { 
         semfail_ctr++;
         if (semfail_ctr > 100) {
-            hal.scheduler->panic("PANIC: failed to take _spi_sem "
+            AP_HAL::panic("PANIC: failed to take _spi_sem "
                         "100 times in AP_ADC_ADS7844::read");
         }
         return;
@@ -124,7 +124,7 @@ void AP_ADC_ADS7844::read(void)
     _spi_sem->give();
 
     // record time of this sample
-    _ch6_last_sample_time_micros = hal.scheduler->micros();
+    _ch6_last_sample_time_micros = AP_HAL::micros();
 }
 
 
@@ -137,19 +137,19 @@ void AP_ADC_ADS7844::Init()
     hal.scheduler->suspend_timer_procs();
     _spi = hal.spi->device(AP_HAL::SPIDevice_ADS7844);
     if (_spi == NULL) {
-        hal.scheduler->panic("PANIC: AP_ADC_ADS7844 missing SPI device "
+        AP_HAL::panic("PANIC: AP_ADC_ADS7844 missing SPI device "
                     "driver\n");
     }
 
     _spi_sem = _spi->get_semaphore();
 
     if (_spi_sem == NULL) {
-        hal.scheduler->panic("PANIC: AP_ADC_ADS7844 missing SPI device "
+        AP_HAL::panic("PANIC: AP_ADC_ADS7844 missing SPI device "
                     "semaphore");
     }
    
     if (!_spi_sem->take(0)) {
-        hal.scheduler->panic("PANIC: failed to take _spi_sem in"
+        AP_HAL::panic("PANIC: failed to take _spi_sem in"
                     "AP_ADC_ADS7844::Init");
     }
     
@@ -168,7 +168,7 @@ void AP_ADC_ADS7844::Init()
 
     _spi_sem->give();
 
-    _ch6_last_sample_time_micros = hal.scheduler->micros();
+    _ch6_last_sample_time_micros = AP_HAL::micros();
 
     hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_ADC_ADS7844::read, void));
     hal.scheduler->resume_timer_procs();