diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index d3233cce6e..f951d9a010 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -15,11 +15,8 @@ public:
     virtual void     delay(uint16_t ms) = 0;
     virtual uint32_t millis() = 0;
     virtual uint32_t micros() = 0;
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-    // offer non-wrapping 64 bit versions on faster CPUs
     virtual uint64_t millis64() = 0;
     virtual uint64_t micros64() = 0;
-#endif
 
     /*
       delay for the given number of microseconds. This needs to be as
diff --git a/libraries/AP_HAL_AVR/Scheduler.cpp b/libraries/AP_HAL_AVR/Scheduler.cpp
index 32811f02ca..91520d8d14 100644
--- a/libraries/AP_HAL_AVR/Scheduler.cpp
+++ b/libraries/AP_HAL_AVR/Scheduler.cpp
@@ -66,6 +66,24 @@ uint32_t AVRScheduler::millis() {
     return _timer.millis();
 }
 
+/*
+  64 bit version of millis(). This wraps at 32 bits on AVR
+ */
+uint64_t AVRScheduler::millis64() {
+    return millis();
+}
+
+/*
+  64 bit version of micros(). This wraps when 32 bit millis() wraps
+ */
+uint64_t AVRScheduler::micros64() {
+    // this is slow, but solves the problem with logging uint64_t timestamps
+    uint64_t ret = millis();
+    ret *= 1000ULL;
+    ret += micros() % 1000UL;
+    return ret;
+}
+
 void AVRScheduler::delay_microseconds(uint16_t us) {
     _timer.delay_microseconds(us);
 }
diff --git a/libraries/AP_HAL_AVR/Scheduler.h b/libraries/AP_HAL_AVR/Scheduler.h
index 467669ff86..239df7be78 100644
--- a/libraries/AP_HAL_AVR/Scheduler.h
+++ b/libraries/AP_HAL_AVR/Scheduler.h
@@ -28,6 +28,8 @@ public:
     void     delay(uint16_t ms);
     uint32_t millis();
     uint32_t micros();
+    uint64_t millis64();
+    uint64_t micros64();
     void     delay_microseconds(uint16_t us);
     void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
 
diff --git a/libraries/AP_HAL_FLYMAPLE/Scheduler.cpp b/libraries/AP_HAL_FLYMAPLE/Scheduler.cpp
index 7de92f0079..abd4fbdf21 100644
--- a/libraries/AP_HAL_FLYMAPLE/Scheduler.cpp
+++ b/libraries/AP_HAL_FLYMAPLE/Scheduler.cpp
@@ -103,6 +103,18 @@ uint32_t FLYMAPLEScheduler::micros() {
     return libmaple_micros();
 }
 
+uint64_t FLYMAPLEScheduler::millis64() {
+    return millis();
+}
+
+uint64_t FLYMAPLEScheduler::micros64() {
+    // this is slow, but solves the problem with logging uint64_t timestamps
+    uint64_t ret = millis();
+    ret *= 1000ULL;
+    ret += micros() % 1000;
+    return ret;
+}
+
 void FLYMAPLEScheduler::delay_microseconds(uint16_t us)
 { 
     delay_us(us);
diff --git a/libraries/AP_HAL_FLYMAPLE/Scheduler.h b/libraries/AP_HAL_FLYMAPLE/Scheduler.h
index b7f7b3914f..d9d7b0597c 100644
--- a/libraries/AP_HAL_FLYMAPLE/Scheduler.h
+++ b/libraries/AP_HAL_FLYMAPLE/Scheduler.h
@@ -30,6 +30,8 @@ public:
     void     delay(uint16_t ms);
     uint32_t millis();
     uint32_t micros();
+    uint64_t millis64();
+    uint64_t micros64();
     void     delay_microseconds(uint16_t us);
     void     register_delay_callback(AP_HAL::Proc,
                 uint16_t min_time_ms);