diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index d500224a55..16ea7db74a 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -114,7 +114,7 @@ void Rover::loop()
     // wait for an INS sample
     ins.wait_for_sample();
 
-    uint32_t timer = hal.scheduler->micros();
+    uint32_t timer = AP_HAL::micros();
 
     delta_us_fast_loop  = timer - fast_loopTimer_us;
     G_Dt                = delta_us_fast_loop * 1.0e-6f;
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index ee2d5f4c1d..6a9d990473 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -427,7 +427,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
     switch (id) {
     case MSG_HEARTBEAT:
         CHECK_PAYLOAD_SIZE(HEARTBEAT);
-        rover.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis();        
+        rover.gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = AP_HAL::millis();        
         rover.send_heartbeat(chan);
         return true;
 
@@ -1232,7 +1232,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
         hal.rcin->set_overrides(v, 8);
 
-        rover.failsafe.rc_override_timer = hal.scheduler->millis();
+        rover.failsafe.rc_override_timer = AP_HAL::millis();
         rover.failsafe_trigger(FAILSAFE_EVENT_RC, false);
         break;
     }
@@ -1241,7 +1241,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         {
             // We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
 			if(msg->sysid != rover.g.sysid_my_gcs) break;
-            rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = hal.scheduler->millis();
+            rover.last_heartbeat_ms = rover.failsafe.rc_override_timer = AP_HAL::millis();
             rover.failsafe_trigger(FAILSAFE_EVENT_GCS, false);
             break;
         }
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index 022df2fd0e..0784da4c44 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -172,7 +172,7 @@ void Rover::Log_Write_Performance()
 {
     struct log_Performance pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         loop_time       : millis()- perf_mon_timer,
         main_loop_count : mainLoop_count,
         g_dt_max        : G_Dt_max,
@@ -197,7 +197,7 @@ void Rover::Log_Write_Steering()
 {
     struct log_Steering pkt = {
         LOG_PACKET_HEADER_INIT(LOG_STEERING_MSG),
-        time_us        : hal.scheduler->micros64(),
+        time_us        : AP_HAL::micros64(),
         demanded_accel : lateral_acceleration,
         achieved_accel : gps.ground_speed() * ins.get_gyro().z,
     };
@@ -216,7 +216,7 @@ bool Rover::Log_Write_Startup(uint8_t type)
 {
     struct log_Startup pkt = {
         LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         startup_type    : type,
         command_total   : mission.num_commands()
     };
@@ -239,7 +239,7 @@ void Rover::Log_Write_Control_Tuning()
     Vector3f accel = ins.get_accel();
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         steer_out       : (int16_t)channel_steer->servo_out,
         roll            : (int16_t)ahrs.roll_sensor,
         pitch           : (int16_t)ahrs.pitch_sensor,
@@ -264,7 +264,7 @@ void Rover::Log_Write_Nav_Tuning()
 {
     struct log_Nav_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
-        time_us             : hal.scheduler->micros64(),
+        time_us             : AP_HAL::micros64(),
         yaw                 : (uint16_t)ahrs.yaw_sensor,
         wp_distance         : wp_distance,
         target_bearing_cd   : (uint16_t)nav_controller->target_bearing_cd(),
@@ -312,11 +312,11 @@ void Rover::Log_Write_Sonar()
 {
     uint16_t turn_time = 0;
     if (!is_zero(obstacle.turn_angle)) {
-        turn_time = hal.scheduler->millis() - obstacle.detected_time_ms;
+        turn_time = AP_HAL::millis() - obstacle.detected_time_ms;
     }
     struct log_Sonar pkt = {
         LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         lateral_accel   : lateral_acceleration,
         sonar1_distance : (uint16_t)sonar.distance_cm(0),
         sonar2_distance : (uint16_t)sonar.distance_cm(1),
@@ -347,7 +347,7 @@ struct PACKED log_Arm_Disarm {
 void Rover::Log_Arm_Disarm() {
     struct log_Arm_Disarm pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ARM_DISARM_MSG),
-        time_us                 : hal.scheduler->micros64(),
+        time_us                 : AP_HAL::micros64(),
         arm_state               : arming.is_armed(),
         arm_checks              : arming.get_enabled_checks()
     };
diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index bc9f2bce30..b1e1d2301e 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -563,7 +563,7 @@ void Rover::load_parameters(void)
 {
     if (!AP_Param::check_var_info()) {
         cliSerial->printf("Bad var table\n");
-        hal.scheduler->panic("Bad var table");
+        AP_HAL::panic("Bad var table");
     }
 
 	if (!g.format_version.load() ||
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index ff47f9d076..55d2211884 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -457,8 +457,6 @@ private:
     void update_commands(void);
     void delay(uint32_t ms);
     void mavlink_delay(uint32_t ms);
-    uint32_t millis();
-    uint32_t micros();
     void read_control_switch();
     uint8_t readSwitch(void);
     void reset_control_switch();
@@ -566,4 +564,7 @@ public:
 extern const AP_HAL::HAL& hal;
 extern Rover rover;
 
+using AP_HAL::millis;
+using AP_HAL::micros;
+
 #endif // _ROVER_H_
diff --git a/APMrover2/compat.cpp b/APMrover2/compat.cpp
index 5146951711..b122a95f1c 100644
--- a/APMrover2/compat.cpp
+++ b/APMrover2/compat.cpp
@@ -9,14 +9,3 @@ void Rover::mavlink_delay(uint32_t ms)
 {
     hal.scheduler->delay(ms);
 }
-
-uint32_t Rover::millis()
-{
-    return hal.scheduler->millis();
-}
-
-uint32_t Rover::micros()
-{
-    return hal.scheduler->micros();
-}
-
diff --git a/APMrover2/control_modes.cpp b/APMrover2/control_modes.cpp
index dc2efb8af2..8c85ccbd64 100644
--- a/APMrover2/control_modes.cpp
+++ b/APMrover2/control_modes.cpp
@@ -11,7 +11,7 @@ void Rover::read_control_switch()
 	// If we get this value we do not want to change modes.
 	if(switchPosition == 255) return;
 
-    if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 100) {
+    if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 100) {
         // only use signals that are less than 0.1s old.
         return;
     }
diff --git a/APMrover2/failsafe.cpp b/APMrover2/failsafe.cpp
index 84525ac072..eadf3ab150 100644
--- a/APMrover2/failsafe.cpp
+++ b/APMrover2/failsafe.cpp
@@ -20,7 +20,7 @@ void Rover::failsafe_check()
     static uint16_t last_mainLoop_count;
     static uint32_t last_timestamp;
     static bool in_failsafe;
-    uint32_t tnow = hal.scheduler->micros();
+    uint32_t tnow = AP_HAL::micros();
 
     if (mainLoop_count != last_mainLoop_count) {
         // the main loop is running, all is OK
diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp
index 955e1bef61..7e2abb975f 100644
--- a/APMrover2/radio.cpp
+++ b/APMrover2/radio.cpp
@@ -125,7 +125,7 @@ void Rover::read_radio()
         return;
     }
 
-    failsafe.last_valid_rc_ms = hal.scheduler->millis();
+    failsafe.last_valid_rc_ms = AP_HAL::millis();
 
     RC_Channel::set_pwm_all();
 
@@ -190,7 +190,7 @@ void Rover::control_failsafe(uint16_t pwm)
         failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500);
 	} else if (g.fs_throttle_enabled) {
         bool failed = pwm < (uint16_t)g.fs_throttle_value;
-        if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 2000) {
+        if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) {
             failed = true;
         }
         failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed);
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index 25336ca16e..0c0ef88b61 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -59,7 +59,7 @@ void Rover::read_sonars(void)
                 gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar1 obstacle %u cm",
                                   (unsigned)obstacle.sonar1_distance_cm);
             }
-            obstacle.detected_time_ms = hal.scheduler->millis();
+            obstacle.detected_time_ms = AP_HAL::millis();
             obstacle.turn_angle = g.sonar_turn_angle;
         } else if (obstacle.sonar2_distance_cm <= (uint16_t)g.sonar_trigger_cm) {
             // we have an object on the right
@@ -70,7 +70,7 @@ void Rover::read_sonars(void)
                 gcs_send_text_fmt(MAV_SEVERITY_INFO, "Sonar2 obstacle %u cm",
                                   (unsigned)obstacle.sonar2_distance_cm);
             }
-            obstacle.detected_time_ms = hal.scheduler->millis();
+            obstacle.detected_time_ms = AP_HAL::millis();
             obstacle.turn_angle = -g.sonar_turn_angle;
         }
     } else {
@@ -86,7 +86,7 @@ void Rover::read_sonars(void)
                 gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Sonar obstacle %u cm",
                                   (unsigned)obstacle.sonar1_distance_cm);
             }
-            obstacle.detected_time_ms = hal.scheduler->millis();
+            obstacle.detected_time_ms = AP_HAL::millis();
             obstacle.turn_angle = g.sonar_turn_angle;
         }
     }
@@ -95,7 +95,7 @@ void Rover::read_sonars(void)
 
     // no object detected - reset after the turn time
     if (obstacle.detected_count >= g.sonar_debounce &&
-        hal.scheduler->millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) { 
+        AP_HAL::millis() > obstacle.detected_time_ms + g.sonar_turn_time*1000) { 
         gcs_send_text_fmt(MAV_SEVERITY_INFO, "Obstacle passed");
         obstacle.detected_count = 0;
         obstacle.turn_angle = 0;