From e83989252476d060c7ca85afb5d496d87352c563 Mon Sep 17 00:00:00 2001
From: Caio Marcelo de Oliveira Filho <caio.oliveira@intel.com>
Date: Fri, 20 Nov 2015 12:15:45 +0900
Subject: [PATCH] PID: use millis/micros/panic functions

---
 libraries/PID/PID.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index 28f88e8031..703ca61c53 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -21,7 +21,7 @@ const AP_Param::GroupInfo PID::var_info[] = {
 
 float PID::get_pid(float error, float scaler)
 {
-    uint32_t tnow = hal.scheduler->millis();
+    uint32_t tnow = AP_HAL::millis();
     uint32_t dt = tnow - _last_t;
     float output            = 0;
     float delta_time;