diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index 428ea3dfef..31c29b4d33 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -124,7 +124,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
         interference_pct[i] = 0.0f;
     }
 
-    EXPECT_DELAY(hal, 5000);
+    EXPECT_DELAY_MS(5000);
 
     // enable motors and pass through throttle
     init_rc_out();
@@ -137,7 +137,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
 
     // main run while there is no user input and the compass is healthy
     while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) {
-        EXPECT_DELAY(hal, 5000);
+        EXPECT_DELAY_MS(5000);
 
         // 50hz loop
         if (millis() - last_run_time < 20) {
diff --git a/ArduCopter/motor_test.cpp b/ArduCopter/motor_test.cpp
index 6b0e573125..adc1cd0511 100644
--- a/ArduCopter/motor_test.cpp
+++ b/ArduCopter/motor_test.cpp
@@ -25,7 +25,7 @@ void Copter::motor_test_output()
         return;
     }
 
-    EXPECT_DELAY(hal, 2000);
+    EXPECT_DELAY_MS(2000);
 
     // check for test timeout
     uint32_t now = AP_HAL::millis();
@@ -148,7 +148,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t moto
             // start test
             ap.motor_test = true;
 
-            EXPECT_DELAY(hal, 3000);
+            EXPECT_DELAY_MS(3000);
             // enable and arm motors
             if (!motors->armed()) {
                 init_rc_out();