diff --git a/libraries/AP_Math/examples/location/location.cpp b/libraries/AP_Math/examples/location/location.cpp
index bd48253bb8..265b0d9975 100644
--- a/libraries/AP_Math/examples/location/location.cpp
+++ b/libraries/AP_Math/examples/location/location.cpp
@@ -66,10 +66,10 @@ static void test_one_offset(const struct Location &loc,
     float dist2, bearing2;
 
     loc2 = loc;
-    uint32_t t1 = hal.scheduler->micros();
+    uint32_t t1 = AP_HAL::micros();
     location_offset(loc2, ofs_north, ofs_east);
     hal.console->printf("location_offset took %u usec\n",
-                        (unsigned)(hal.scheduler->micros() - t1));
+                        (unsigned)(AP_HAL::micros() - t1));
     dist2 = get_distance(loc, loc2);
     bearing2 = get_bearing_cd(loc, loc2) * 0.01f;
     float brg_error = bearing2-bearing;
diff --git a/libraries/AP_Math/examples/polygon/polygon.cpp b/libraries/AP_Math/examples/polygon/polygon.cpp
index a66d6005ac..6a52584887 100644
--- a/libraries/AP_Math/examples/polygon/polygon.cpp
+++ b/libraries/AP_Math/examples/polygon/polygon.cpp
@@ -92,7 +92,7 @@ void setup(void)
     hal.console->println(all_passed ? "TEST PASSED" : "TEST FAILED");
 
     hal.console->println("Speed test:");
-    start_time = hal.scheduler->micros();
+    start_time = AP_HAL::micros();
     for (count=0; count<1000; count++) {
         for (i=0; i<ARRAY_SIZE(test_points); i++) {
             bool result;
@@ -103,7 +103,7 @@ void setup(void)
             }
         }
     }
-    hal.console->printf("%u usec/call\n", (unsigned)((hal.scheduler->micros() 
+    hal.console->printf("%u usec/call\n", (unsigned)((AP_HAL::micros()
                     - start_time)/(count*ARRAY_SIZE(test_points))));
     hal.console->println(all_passed ? "ALL TESTS PASSED" : "TEST FAILED");
 }