diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index a43096806d..2df051f662 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -118,7 +118,7 @@ void AP_AutoTune::start(void)
 {
     running = true;
     state = DEMAND_UNSATURATED;
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
 
     state_enter_ms = now;
     last_save_ms = now;
@@ -174,7 +174,7 @@ void AP_AutoTune::update(float desired_rate, float achieved_rate, float servo_ou
     // see what state we are in
     ATState new_state;
     float abs_desired_rate = fabsf(desired_rate);
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
 
     if (fabsf(servo_out) >= 45) {
         // we have saturated the servo demand (not including
@@ -242,7 +242,7 @@ void AP_AutoTune::check_state_exit(uint32_t state_time_ms)
  */
 void AP_AutoTune::check_save(void)
 {
-    if (hal.scheduler->millis() - last_save_ms < AUTOTUNE_SAVE_PERIOD) {
+    if (AP_HAL::millis() - last_save_ms < AUTOTUNE_SAVE_PERIOD) {
         return;
     }
 
@@ -263,7 +263,7 @@ void AP_AutoTune::check_save(void)
 
     // the next values to save will be the ones we are flying now
     next_save = current;
-    last_save_ms = hal.scheduler->millis();
+    last_save_ms = AP_HAL::millis();
 }
 
 /*
@@ -337,7 +337,7 @@ void AP_AutoTune::write_log(float servo, float demanded, float achieved)
 
     struct log_ATRP pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ATRP_MSG),
-        time_us    : hal.scheduler->micros64(),
+        time_us    : AP_HAL::micros64(),
         type       : type,
     	state      : (uint8_t)state,
         servo      : (int16_t)(servo*100),
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index 69d3f2103b..f5294f4a55 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -114,7 +114,7 @@ const AP_Param::GroupInfo AP_PitchController::var_info[] = {
 */
 int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed)
 {
-	uint32_t tnow = hal.scheduler->millis();
+	uint32_t tnow = AP_HAL::millis();
 	uint32_t dt = tnow - _last_t;
 	
 	if (_last_t == 0 || dt > 1000) {
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index 9996f31a96..2b688e308d 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -92,7 +92,7 @@ const AP_Param::GroupInfo AP_RollController::var_info[] = {
 */
 int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator)
 {
-	uint32_t tnow = hal.scheduler->millis();
+	uint32_t tnow = AP_HAL::millis();
 	uint32_t dt = tnow - _last_t;
 	if (_last_t == 0 || dt > 1000) {
 		dt = 0;
diff --git a/libraries/APM_Control/AP_SteerController.cpp b/libraries/APM_Control/AP_SteerController.cpp
index 022d260754..fdc13303eb 100644
--- a/libraries/APM_Control/AP_SteerController.cpp
+++ b/libraries/APM_Control/AP_SteerController.cpp
@@ -94,7 +94,7 @@ const AP_Param::GroupInfo AP_SteerController::var_info[] = {
 */
 int32_t AP_SteerController::get_steering_out_rate(float desired_rate)
 {
-	uint32_t tnow = hal.scheduler->millis();
+	uint32_t tnow = AP_HAL::millis();
 	uint32_t dt = tnow - _last_t;
 	if (_last_t == 0 || dt > 1000) {
 		dt = 0;
diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 3357b397ed..abf4f247d7 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -72,7 +72,7 @@ const AP_Param::GroupInfo AP_YawController::var_info[] = {
 
 int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
 {
-	uint32_t tnow = hal.scheduler->millis();
+	uint32_t tnow = AP_HAL::millis();
 	uint32_t dt = tnow - _last_t;
 	if (_last_t == 0 || dt > 1000) {
 		dt = 0;