diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index f1c12a5545..621e866de9 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -26,7 +26,7 @@
 
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpmf-conversions"
-#define SCHED_TASK(func) AP_HAL_CLASSPROC_VOID(&plane, &Plane::func)
+#define SCHED_TASK(func) FUNCTOR_BIND_VOID(&plane, &Plane::func, void)
 
 /*
   scheduler table - all regular tasks are listed here, along with how
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 3e45450eac..3a9020157b 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1288,7 +1288,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_SET_MODE:
     {
-        handle_set_mode(msg, AP_HAL_CLASSPROC(&plane, &Plane::mavlink_set_mode));
+        handle_set_mode(msg, FUNCTOR_BIND(&plane, &Plane::mavlink_set_mode, bool, uint8_t));
         break;
     }
 
@@ -1704,7 +1704,7 @@ void Plane::gcs_update(void)
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
 #if CLI_ENABLED == ENABLED
-            gcs[i].update(g.cli_enabled==1?AP_HAL_MEMBERPROC(&Plane::run_cli):NULL);
+            gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):NULL);
 #else
             gcs[i].update(NULL);
 #endif
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index a51d299724..0c6f96cf81 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -20,7 +20,7 @@ static const struct Menu::command log_menu_commands[] PROGMEM = {
 };
 
 // A Macro to create the Menu
-MENU2(log_menu, "Log", log_menu_commands, MENU_FUNC(print_log_menu));
+MENU2(log_menu, "Log", log_menu_commands, FUNCTOR_BIND(&plane, &Plane::print_log_menu, bool));
 
 bool Plane::print_log_menu(void)
 {
@@ -493,8 +493,8 @@ void Plane::Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page)
 
     cliSerial->println_P(PSTR(HAL_BOARD_NAME));
 
-	DataFlash.LogReadProcess(log_num, start_page, end_page, 
-                             AP_HAL_MEMBERPROC(&Plane::print_flight_mode),
+	DataFlash.LogReadProcess(log_num, start_page, end_page,
+                             FUNCTOR_BIND_MEMBER(&Plane::print_flight_mode, void, AP_HAL::BetterStream *, uint8_t),
                              cliSerial);
 }
 #endif // CLI_ENABLED
diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index 0a18cb23ec..2a14657424 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -58,9 +58,9 @@ Plane::Plane(void) :
     flight_stage(AP_SpdHgtControl::FLIGHT_NORMAL),
     aerodynamic_load_factor(1.0f),
     mission(ahrs, 
-            AP_HAL_MEMBERPROC(&Plane::start_command_callback), 
-            AP_HAL_MEMBERPROC(&Plane::verify_command_callback), 
-            AP_HAL_MEMBERPROC(&Plane::exit_mission_callback)),
+            FUNCTOR_BIND_MEMBER(&Plane::start_command_callback, bool, const AP_Mission::Mission_Command &),
+            FUNCTOR_BIND_MEMBER(&Plane::verify_command_callback, bool, const AP_Mission::Mission_Command &),
+            FUNCTOR_BIND_MEMBER(&Plane::exit_mission_callback, void)),
 #if AP_TERRAIN_AVAILABLE
     terrain(ahrs, mission, rally),
 #endif
@@ -72,7 +72,7 @@ Plane::Plane(void) :
 #if MOUNT == ENABLED
     camera_mount(ahrs, current_loc),
 #endif
-    arming(ahrs, barometer, compass, home_is_set, AP_HAL_MEMBERPROC(&Plane::gcs_send_text_P)),
+    arming(ahrs, barometer, compass, home_is_set, FUNCTOR_BIND_MEMBER(&Plane::gcs_send_text_P, void, gcs_severity, const prog_char_t *)),
     param_loader(var_info)
 {
     elevon.trim1 = 1500;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 7c87467c6c..bbddca18c9 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -918,7 +918,7 @@ public:
     int8_t test_shell(uint8_t argc, const Menu::arg *argv);
 };
 
-#define MENU_FUNC(func) AP_HAL_CLASSPROC(&plane, &Plane::func)
+#define MENU_FUNC(func) FUNCTOR_BIND(&plane, &Plane::func, int8_t, uint8_t, const Menu::arg *)
 
 extern const AP_HAL::HAL& hal;
 extern Plane plane;