diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index 954a854943..051755cfc1 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -107,7 +107,7 @@ void LinuxScheduler::register_delay_callback(AP_HAL::Proc proc,
     _min_delay_cb_ms = min_time_ms;
 }
 
-void LinuxScheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg) 
+void LinuxScheduler::register_timer_process(AP_HAL::MemberProc proc) 
 {
     for (uint8_t i = 0; i < _num_timer_procs; i++) {
         if (_timer_proc[i] == proc) {
@@ -117,14 +117,13 @@ void LinuxScheduler::register_timer_process(AP_HAL::TimedProc proc, void *arg)
 
     if (_num_timer_procs < LINUX_SCHEDULER_MAX_TIMER_PROCS) {
         _timer_proc[_num_timer_procs] = proc;
-        _timer_arg[_num_timer_procs] = arg;
         _num_timer_procs++;
     } else {
         hal.console->printf("Out of timer processes\n");
     }
 }
 
-void LinuxScheduler::register_io_process(AP_HAL::TimedProc proc, void *arg) 
+void LinuxScheduler::register_io_process(AP_HAL::MemberProc proc) 
 {
     for (uint8_t i = 0; i < _num_io_procs; i++) {
         if (_io_proc[i] == proc) {
@@ -134,15 +133,13 @@ void LinuxScheduler::register_io_process(AP_HAL::TimedProc proc, void *arg)
 
     if (_num_io_procs < LINUX_SCHEDULER_MAX_TIMER_PROCS) {
         _io_proc[_num_io_procs] = proc;
-        _io_arg[_num_io_procs] = arg;
         _num_io_procs++;
     } else {
         hal.console->printf("Out of IO processes\n");
     }
 }
 
-void LinuxScheduler::register_timer_failsafe(AP_HAL::TimedProc failsafe,
-                                             uint32_t period_us)
+void LinuxScheduler::register_timer_failsafe(AP_HAL::MemberProc failsafe, uint32_t period_us)
 {
     _failsafe = failsafe;
 }
diff --git a/libraries/AP_HAL_Linux/Scheduler.h b/libraries/AP_HAL_Linux/Scheduler.h
index 39e71e84b1..5ce71bd069 100644
--- a/libraries/AP_HAL_Linux/Scheduler.h
+++ b/libraries/AP_HAL_Linux/Scheduler.h
@@ -21,15 +21,14 @@ public:
     void     register_delay_callback(AP_HAL::Proc,
                 uint16_t min_time_ms);
 
-    void     register_timer_process(AP_HAL::TimedProc, void *arg);
-    void     register_io_process(AP_HAL::TimedProc, void *arg);
+    void     register_timer_process(AP_HAL::MemberProc, void *arg);
+    void     register_io_process(AP_HAL::MemberProc, void *arg);
     void     suspend_timer_procs();
     void     resume_timer_procs();
 
     bool     in_timerprocess();
 
-    void     register_timer_failsafe(AP_HAL::TimedProc,
-                uint32_t period_us);
+    void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
 
     void     begin_atomic();
     void     end_atomic();
@@ -47,20 +46,18 @@ private:
     AP_HAL::Proc _delay_cb;
     uint16_t _min_delay_cb_ms;
 
-    AP_HAL::TimedProc _failsafe;
+    AP_HAL::Proc _failsafe;
 
     bool _initialized;
     volatile bool _timer_pending;
 
     volatile bool _timer_suspended;
 
-    AP_HAL::TimedProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
-    void * _timer_arg[LINUX_SCHEDULER_MAX_TIMER_PROCS];
+    AP_HAL::MemberProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
     uint8_t _num_timer_procs;
     volatile bool _in_timer_proc;
 
-    AP_HAL::TimedProc _io_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
-    void * _io_arg[LINUX_SCHEDULER_MAX_TIMER_PROCS];
+    AP_HAL::MemberProc _io_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
     uint8_t _num_io_procs;
     volatile bool _in_io_proc;