diff --git a/libraries/AP_HAL_FLYMAPLE/AnalogSource.cpp b/libraries/AP_HAL_FLYMAPLE/AnalogSource.cpp
index 025931566f..05c11c6846 100644
--- a/libraries/AP_HAL_FLYMAPLE/AnalogSource.cpp
+++ b/libraries/AP_HAL_FLYMAPLE/AnalogSource.cpp
@@ -134,7 +134,7 @@ void FLYMAPLEAnalogSource::setup_read() {
         hal.gpio->write(digital_pin, 1);
     }
     if (_settle_time_ms != 0) {
-        _read_start_time_ms = hal.scheduler->millis();
+        _read_start_time_ms = AP_HAL::millis();
     }
     adc_reg_map *regs = ADC1->regs;
     adc_set_reg_seqlen(ADC1, 1);
@@ -158,7 +158,7 @@ void FLYMAPLEAnalogSource::stop_read() {
 
 bool FLYMAPLEAnalogSource::reading_settled() 
 {
-    if (_settle_time_ms != 0 && (hal.scheduler->millis() - _read_start_time_ms) < _settle_time_ms) {
+    if (_settle_time_ms != 0 && (AP_HAL::millis() - _read_start_time_ms) < _settle_time_ms) {
         return false;
     }
     return true;
diff --git a/libraries/AP_HAL_FLYMAPLE/RCInput.cpp b/libraries/AP_HAL_FLYMAPLE/RCInput.cpp
index 8f0c310dae..0acb51ea2a 100644
--- a/libraries/AP_HAL_FLYMAPLE/RCInput.cpp
+++ b/libraries/AP_HAL_FLYMAPLE/RCInput.cpp
@@ -51,7 +51,7 @@ FLYMAPLERCInput::FLYMAPLERCInput()
 // This interrupt triggers on a negative transiution of the PPM-SIM pin
 void FLYMAPLERCInput::_timer_capt_cb(void)
 {
-    _last_input_interrupt_time = hal.scheduler->millis();
+    _last_input_interrupt_time = AP_HAL::millis();
 
     static uint16 previous_count;
     static uint8  channel_ctr;
@@ -128,7 +128,7 @@ void FLYMAPLERCInput::init(void* machtnichts)
 }
 
 bool FLYMAPLERCInput::new_input() {
-    if ((hal.scheduler->millis() - _last_input_interrupt_time) > 50)
+    if ((AP_HAL::millis() - _last_input_interrupt_time) > 50)
 	_valid_channels = 0; // Lost RC Input?
     return _valid_channels != 0;
 }
diff --git a/libraries/AP_HAL_FLYMAPLE/Semaphores.cpp b/libraries/AP_HAL_FLYMAPLE/Semaphores.cpp
index f68f91d8e7..56e81ac26c 100644
--- a/libraries/AP_HAL_FLYMAPLE/Semaphores.cpp
+++ b/libraries/AP_HAL_FLYMAPLE/Semaphores.cpp
@@ -44,7 +44,7 @@ bool FLYMAPLESemaphore::give() {
 
 bool FLYMAPLESemaphore::take(uint32_t timeout_ms) {
     if (hal.scheduler->in_timerprocess()) {
-        hal.scheduler->panic("PANIC: FLYMAPLESemaphore::take used from "
+        AP_HAL::panic("PANIC: FLYMAPLESemaphore::take used from "
                     "inside timer process");
         return false; /* Never reached - panic does not return */
     }
diff --git a/libraries/AP_HAL_FLYMAPLE/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.cpp b/libraries/AP_HAL_FLYMAPLE/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.cpp
index f11342a3a9..c2dc0a32b5 100644
--- a/libraries/AP_HAL_FLYMAPLE/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.cpp
+++ b/libraries/AP_HAL_FLYMAPLE/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.cpp
@@ -41,7 +41,7 @@ void setup()
     }
     hal.console->println("initialisation complete.");
     hal.scheduler->delay(1000);
-    timer = hal.scheduler->micros();
+    timer = AP_HAL::micros();
 }
 
 void loop()
@@ -50,17 +50,17 @@ void loop()
     static uint32_t last_print;
 
     // accumulate values at 100Hz
-    if ((hal.scheduler->micros()- timer) > 20000L) {
+    if ((AP_HAL::micros()- timer) > 20000L) {
 	    bmp085.accumulate();
-	    timer = hal.scheduler->micros();
+	    timer = AP_HAL::micros();
     }
 
     // print at 10Hz
-    if ((hal.scheduler->millis()- last_print) >= 100) {
-	uint32_t start = hal.scheduler->micros();
-        last_print = hal.scheduler->millis();
+    if ((AP_HAL::millis()- last_print) >= 100) {
+	uint32_t start = AP_HAL::micros();
+        last_print = AP_HAL::millis();
         bmp085.read();
-        uint32_t read_time = hal.scheduler->micros() - start;
+        uint32_t read_time = AP_HAL::micros() - start;
         if (! bmp085.healthy) {
             hal.console->println("not healthy");
             return;
diff --git a/libraries/AP_HAL_FLYMAPLE/examples/SPIDriver/SPIDriver.cpp b/libraries/AP_HAL_FLYMAPLE/examples/SPIDriver/SPIDriver.cpp
index 6fe9f8539c..4be2931626 100644
--- a/libraries/AP_HAL_FLYMAPLE/examples/SPIDriver/SPIDriver.cpp
+++ b/libraries/AP_HAL_FLYMAPLE/examples/SPIDriver/SPIDriver.cpp
@@ -19,7 +19,7 @@ void setup (void) {
 
     spidev = hal.spi->device(AP_HAL::SPIDevice_MPU6000); // Not really MPU6000, just a generic SPU driver
     if (!spidev)
-       hal.scheduler->panic("Starting AP_HAL_FLYMAPLE::SPIDriver failed to get spidev\r\n");
+        AP_HAL::panic("Starting AP_HAL_FLYMAPLE::SPIDriver failed to get spidev\r\n");
 }
 
 void loop (void) { 
diff --git a/libraries/AP_HAL_FLYMAPLE/examples/Semaphore/Semaphore.cpp b/libraries/AP_HAL_FLYMAPLE/examples/Semaphore/Semaphore.cpp
index e224b01b89..7039ae3f0b 100644
--- a/libraries/AP_HAL_FLYMAPLE/examples/Semaphore/Semaphore.cpp
+++ b/libraries/AP_HAL_FLYMAPLE/examples/Semaphore/Semaphore.cpp
@@ -73,12 +73,12 @@ void setup (void) {
     AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(AP_HAL::SPIDevice_Dataflash); // not really
 
     if (dataflash == NULL) {
-        hal.scheduler->panic("Error: No SPIDeviceDriver!");
+        AP_HAL::panic("Error: No SPIDeviceDriver!");
     }
    
     sem = dataflash->get_semaphore();
     if (sem == NULL) {
-        hal.scheduler->panic("Error: No SPIDeviceDriver semaphore!");
+        AP_HAL::panic("Error: No SPIDeviceDriver semaphore!");
     }
 
     hal.scheduler->register_timer_process(async_blinker);