diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index a642f3813a..3d17cc3f04 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -164,9 +164,7 @@ void Scheduler::delay(uint16_t ms)
         // this yields the CPU to other apps
         microsleep(1000);
         if (_min_delay_cb_ms <= ms) {
-            if (_delay_cb) {
-                _delay_cb();
-            }
+            call_delay_cb();
         }
     }
 }
@@ -179,13 +177,6 @@ void Scheduler::delay_microseconds(uint16_t us)
     microsleep(us);
 }
 
-void Scheduler::register_delay_callback(AP_HAL::Proc proc,
-                                             uint16_t min_time_ms)
-{
-    _delay_cb = proc;
-    _min_delay_cb_ms = min_time_ms;
-}
-
 void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
 {
     for (uint8_t i = 0; i < _num_timer_procs; i++) {
diff --git a/libraries/AP_HAL_Linux/Scheduler.h b/libraries/AP_HAL_Linux/Scheduler.h
index 0000768519..e340e3ded7 100644
--- a/libraries/AP_HAL_Linux/Scheduler.h
+++ b/libraries/AP_HAL_Linux/Scheduler.h
@@ -27,8 +27,6 @@ public:
     void     init();
     void     delay(uint16_t ms);
     void     delay_microseconds(uint16_t us);
-    void     register_delay_callback(AP_HAL::Proc,
-                uint16_t min_time_ms);
 
     void     register_timer_process(AP_HAL::MemberProc);
     void     register_io_process(AP_HAL::MemberProc);
@@ -69,9 +67,6 @@ private:
 
     void     _debug_stack();
 
-    AP_HAL::Proc _delay_cb;
-    uint16_t _min_delay_cb_ms;
-
     AP_HAL::Proc _failsafe;
 
     bool _initialized;