diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index b8efdb91bd..0472435a2b 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -37,16 +37,16 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(update_tracking,        50,   1000),
     SCHED_TASK(update_GPS,             10,   4000),
     SCHED_TASK(update_compass,         10,   1500),
-    SCHED_TASK(update_battery,         10,   1500),
+    SCHED_TASK_CLASS(AP_BattMonitor,    &tracker.battery,   read,           10, 1500),
     SCHED_TASK(update_barometer,       10,   1500),
     SCHED_TASK(gcs_update,             50,   1700),
     SCHED_TASK(gcs_data_stream_send,   50,   3000),
     SCHED_TASK(compass_accumulate,     50,   1500),
-    SCHED_TASK(barometer_accumulate,   50,    900),
+    SCHED_TASK_CLASS(AP_Baro,           &tracker.barometer, accumulate,     50,  900),
     SCHED_TASK(ten_hz_logging_loop,    10,    300),
-    SCHED_TASK(dataflash_periodic,     50,    300),
-    SCHED_TASK(ins_periodic,           50,     50),
-    SCHED_TASK(update_notify,          50,    100),
+    SCHED_TASK_CLASS(DataFlash_Class,   &tracker.DataFlash, periodic_tasks, 50,  300),
+    SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins,       periodic,       50,   50),
+    SCHED_TASK_CLASS(AP_Notify,         &tracker.notify,    update,         50,  100),
     SCHED_TASK(check_usb_mux,          10,    300),
     SCHED_TASK(gcs_retry_deferred,     50,   1000),
     SCHED_TASK(one_second_loop,         1,   3900),
@@ -82,16 +82,6 @@ void Tracker::loop()
     scheduler.run(19900UL);
 }
 
-void Tracker::dataflash_periodic(void)
-{
-    DataFlash.periodic_tasks();
-}
-
-void Tracker::ins_periodic()
-{
-    ins.periodic();
-}
-
 void Tracker::one_second_loop()
 {
     // send a heartbeat
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 936046c8d7..a95e85f4f6 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -198,8 +198,6 @@ private:
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
 
-    void dataflash_periodic(void);
-    void ins_periodic();
     void one_second_loop();
     void ten_hz_logging_loop();
     void send_heartbeat(mavlink_channel_t chan);
@@ -226,10 +224,8 @@ private:
     void update_barometer(void);
     void update_ahrs();
     void update_compass(void);
-    void update_battery(void);
     void compass_accumulate(void);
     void accel_cal_update(void);
-    void barometer_accumulate(void);
     void update_GPS(void);
     void init_servos();
     void update_pitch_servo(float pitch);
@@ -241,7 +237,6 @@ private:
     void update_yaw_cr_servo(float yaw);
     void update_yaw_onoff_servo(float yaw);
     void init_tracker();
-    void update_notify();
     bool get_home_eeprom(struct Location &loc);
     void set_home_eeprom(struct Location temp);
     void set_home(struct Location temp);
diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
index a256eb5e3a..cfb2e3818f 100644
--- a/AntennaTracker/sensors.cpp
+++ b/AntennaTracker/sensors.cpp
@@ -43,11 +43,6 @@ void Tracker::update_compass(void)
     }
 }
 
-void Tracker::update_battery()
-{
-    battery.read();
-}
-
 /*
   if the compass is enabled then try to accumulate a reading
  */
@@ -58,14 +53,6 @@ void Tracker::compass_accumulate(void)
     }    
 }
 
-/*
-  try to accumulate a baro reading
- */
-void Tracker::barometer_accumulate(void)
-{
-    barometer.accumulate();
-}
-
 /*
  calibrate compass
 */
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 2d7b3e2800..284416ac72 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -122,13 +122,6 @@ void Tracker::init_tracker()
     BoardConfig.init_safety();    
 }
 
-// updates the status of the notify objects
-// should be called at 50hz
-void Tracker::update_notify()
-{
-    notify.update();
-}
-
 /*
   fetch HOME from EEPROM
 */