diff --git a/libraries/DataFlash/DataFlash_Backend.cpp b/libraries/DataFlash/DataFlash_Backend.cpp
index c0760121106..3a7e21f864d 100644
--- a/libraries/DataFlash/DataFlash_Backend.cpp
+++ b/libraries/DataFlash/DataFlash_Backend.cpp
@@ -16,7 +16,7 @@ void DataFlash_Backend::periodic_fullrate(const uint32_t now)
 
 void DataFlash_Backend::periodic_tasks()
 {
-    uint32_t now = hal.scheduler->millis();
+    uint32_t now = AP_HAL::millis();
     if (now - _last_periodic_1Hz > 1000) {
         periodic_1Hz(now);
         _last_periodic_1Hz = now;
diff --git a/libraries/DataFlash/DataFlash_File.cpp b/libraries/DataFlash/DataFlash_File.cpp
index abab630603b..5dc1788ba4e 100644
--- a/libraries/DataFlash/DataFlash_File.cpp
+++ b/libraries/DataFlash/DataFlash_File.cpp
@@ -918,7 +918,7 @@ void DataFlash_File::ListAvailableLogs(AP_HAL::BetterStream *port)
 void DataFlash_File::flush(void)
 {
     uint16_t _tail;
-    uint32_t tnow = hal.scheduler->micros();
+    uint32_t tnow = AP_HAL::micros();
     hal.scheduler->suspend_timer_procs();
     while (_write_fd != -1 && _initialised && !_open_error &&
            BUF_AVAILABLE(_writebuf)) {
@@ -945,7 +945,7 @@ void DataFlash_File::_io_timer(void)
     if (nbytes == 0) {
         return;
     }
-    uint32_t tnow = hal.scheduler->micros();
+    uint32_t tnow = AP_HAL::micros();
     if (nbytes < _writebuf_chunk && 
         tnow - _last_write_time < 2000000UL) {
         // write in _writebuf_chunk-sized chunks, but always write at
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 724e54103e5..1bcab9c0316 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -32,7 +32,7 @@ void DataFlash_Class::Init(const struct LogStructure *structure, uint8_t num_typ
     backend = new DataFlash_Empty(*this);
 #endif
     if (backend == NULL) {
-        hal.scheduler->panic("Unable to open dataflash");
+        AP_HAL::panic("Unable to open dataflash");
     }
     backend->Init(structure, num_types);
 }
@@ -661,7 +661,7 @@ bool DataFlash_Class::Log_Write_Parameter(const char *name, float value)
 {
     struct log_Parameter pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PARAMETER_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         name  : {},
         value : value
     };
@@ -707,7 +707,7 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
     const struct Location &loc = gps.location(i);
     struct log_GPS pkt = {
         LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPS_MSG+i)),
-        time_us       : hal.scheduler->micros64(),
+        time_us       : AP_HAL::micros64(),
         status        : (uint8_t)gps.status(i),
         gps_week_ms   : gps.time_week_ms(i),
         gps_week      : gps.time_week(i),
@@ -731,7 +731,7 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
     gps.speed_accuracy(i, sacc);
     struct log_GPA pkt2 = {
         LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPA_MSG+i)),
-        time_us       : hal.scheduler->micros64(),
+        time_us       : AP_HAL::micros64(),
         vdop          : gps.get_vdop(i),
         hacc          : (uint16_t)(hacc*100),
         vacc          : (uint16_t)(vacc*100),
@@ -746,7 +746,7 @@ void DataFlash_Class::Log_Write_RFND(const RangeFinder &rangefinder)
 {
     struct log_RFND pkt = {
         LOG_PACKET_HEADER_INIT((uint8_t)(LOG_RFND_MSG)),
-        time_us       : hal.scheduler->micros64(),
+        time_us       : AP_HAL::micros64(),
         dist1         : rangefinder.distance_cm(0),
         dist2         : rangefinder.distance_cm(1)
     };
@@ -758,7 +758,7 @@ void DataFlash_Class::Log_Write_RCIN(void)
 {
     struct log_RCIN pkt = {
         LOG_PACKET_HEADER_INIT(LOG_RCIN_MSG),
-        time_us       : hal.scheduler->micros64(),
+        time_us       : AP_HAL::micros64(),
         chan1         : hal.rcin->read(0),
         chan2         : hal.rcin->read(1),
         chan3         : hal.rcin->read(2),
@@ -782,7 +782,7 @@ void DataFlash_Class::Log_Write_RCOUT(void)
 {
     struct log_RCOUT pkt = {
         LOG_PACKET_HEADER_INIT(LOG_RCOUT_MSG),
-        time_us       : hal.scheduler->micros64(),
+        time_us       : AP_HAL::micros64(),
         chan1         : hal.rcout->read(0),
         chan2         : hal.rcout->read(1),
         chan3         : hal.rcout->read(2),
@@ -805,7 +805,7 @@ void DataFlash_Class::Log_Write_RSSI(AP_RSSI &rssi)
 {
     struct log_RSSI pkt = {
         LOG_PACKET_HEADER_INIT(LOG_RSSI_MSG),
-        time_us       : hal.scheduler->micros64(),
+        time_us       : AP_HAL::micros64(),
         RXRSSI        : rssi.read_receiver_rssi()
     };
     WriteBlock(&pkt, sizeof(pkt));
@@ -814,7 +814,7 @@ void DataFlash_Class::Log_Write_RSSI(AP_RSSI &rssi)
 // Write a BARO packet
 void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
 {
-    uint64_t time_us = hal.scheduler->micros64();
+    uint64_t time_us = AP_HAL::micros64();
     struct log_BARO pkt = {
         LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
         time_us       : time_us,
@@ -853,7 +853,7 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
 // Write an raw accel/gyro data packet
 void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
 {
-    uint64_t time_us = hal.scheduler->micros64();
+    uint64_t time_us = AP_HAL::micros64();
     const Vector3f &gyro = ins.get_gyro(0);
     const Vector3f &accel = ins.get_accel(0);
     struct log_IMU pkt = {
@@ -926,7 +926,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
     ins.get_delta_angle(0, delta_angle);
     ins.get_delta_velocity(0, delta_velocity);
 
-    uint64_t time_us = hal.scheduler->micros64();
+    uint64_t time_us = AP_HAL::micros64();
     struct log_IMUDT pkt = {
         LOG_PACKET_HEADER_INIT(LOG_IMUDT_MSG),
         time_us : time_us,
@@ -992,7 +992,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
 
 void DataFlash_Class::Log_Write_Vibration(const AP_InertialSensor &ins)
 {
-    uint64_t time_us = hal.scheduler->micros64();
+    uint64_t time_us = AP_HAL::micros64();
     Vector3f vibration = ins.get_vibration_levels();
     struct log_Vibe pkt = {
         LOG_PACKET_HEADER_INIT(LOG_VIBE_MSG),
@@ -1046,7 +1046,7 @@ bool DataFlash_Class::Log_Write_Message(const char *message)
 {
     struct log_Message pkt = {
         LOG_PACKET_HEADER_INIT(LOG_MESSAGE_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         msg  : {}
     };
     strncpy(pkt.msg, message, sizeof(pkt.msg));
@@ -1058,7 +1058,7 @@ void DataFlash_Class::Log_Write_Power(void)
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     struct log_POWR pkt = {
         LOG_PACKET_HEADER_INIT(LOG_POWR_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         Vcc     : (uint16_t)(hal.analogin->board_voltage() * 100),
         Vservo  : (uint16_t)(hal.analogin->servorail_voltage() * 100),
         flags   : hal.analogin->power_status_flags()
@@ -1077,7 +1077,7 @@ void DataFlash_Class::Log_Write_AHRS2(AP_AHRS &ahrs)
     }
     struct log_AHRS pkt = {
         LOG_PACKET_HEADER_INIT(LOG_AHR2_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         roll  : (int16_t)(degrees(euler.x)*100),
         pitch : (int16_t)(degrees(euler.y)*100),
         yaw   : (uint16_t)(wrap_360_cd(degrees(euler.z)*100)),
@@ -1099,7 +1099,7 @@ void DataFlash_Class::Log_Write_POS(AP_AHRS &ahrs)
     ahrs.get_relative_position_NED(pos);
     struct log_POS pkt = {
         LOG_PACKET_HEADER_INIT(LOG_POS_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         lat     : loc.lat,
         lng     : loc.lng,
         alt     : loc.alt*1.0e-2f,
@@ -1128,7 +1128,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         posDownDeriv = ahrs.get_NavEKF().getPosDownDerivative();
         struct log_EKF1 pkt = {
             LOG_PACKET_HEADER_INIT(LOG_EKF1_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             roll    : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
             pitch   : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
             yaw     : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
@@ -1158,7 +1158,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         ahrs.get_NavEKF().getMagXYZ(magXYZ);
         struct log_EKF2 pkt2 = {
             LOG_PACKET_HEADER_INIT(LOG_EKF2_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             Ratio   : (int8_t)(100*ratio),
             AZ1bias : (int8_t)(100*az1bias),
             AZ2bias : (int8_t)(100*az2bias),
@@ -1181,7 +1181,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         ahrs.get_NavEKF().getInnovations(velInnov, posInnov, magInnov, tasInnov);
         struct log_EKF3 pkt3 = {
             LOG_PACKET_HEADER_INIT(LOG_EKF3_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             innovVN : (int16_t)(100*velInnov.x),
             innovVE : (int16_t)(100*velInnov.y),
             innovVD : (int16_t)(100*velInnov.z),
@@ -1212,7 +1212,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         ahrs.get_NavEKF().getFilterGpsStatus(gpsStatus);
         struct log_EKF4 pkt4 = {
             LOG_PACKET_HEADER_INIT(LOG_EKF4_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             sqrtvarV : (int16_t)(100*velVar),
             sqrtvarP : (int16_t)(100*posVar),
             sqrtvarH : (int16_t)(100*hgtVar),
@@ -1243,7 +1243,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
             ahrs.get_NavEKF().getFlowDebug(normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr);
             struct log_EKF5 pkt5 = {
                 LOG_PACKET_HEADER_INIT(LOG_EKF5_MSG),
-                time_us : hal.scheduler->micros64(),
+                time_us : AP_HAL::micros64(),
                 normInnov : (uint8_t)(min(100*normInnov,255)),
                 FIX : (int16_t)(1000*flowInnovX),
                 FIY : (int16_t)(1000*flowInnovY),
@@ -1281,7 +1281,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
     posDownDeriv = ahrs.get_NavEKF2().getPosDownDerivative(0);
     struct log_EKF1 pkt = {
         LOG_PACKET_HEADER_INIT(LOG_NKF1_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         roll    : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
         pitch   : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
         yaw     : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
@@ -1312,7 +1312,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
     ahrs.get_NavEKF2().getGyroScaleErrorPercentage(0,gyroScaleFactor);
     struct log_NKF2 pkt2 = {
         LOG_PACKET_HEADER_INIT(LOG_NKF2_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         AZbias  : (int8_t)(100*azbias),
         scaleX  : (int16_t)(100*gyroScaleFactor.x),
         scaleY  : (int16_t)(100*gyroScaleFactor.y),
@@ -1338,7 +1338,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
     ahrs.get_NavEKF2().getInnovations(0,velInnov, posInnov, magInnov, tasInnov, yawInnov);
     struct log_NKF3 pkt3 = {
         LOG_PACKET_HEADER_INIT(LOG_NKF3_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         innovVN : (int16_t)(100*velInnov.x),
         innovVE : (int16_t)(100*velInnov.y),
         innovVD : (int16_t)(100*velInnov.z),
@@ -1374,7 +1374,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
     uint8_t primaryIndex = ahrs.get_NavEKF2().getPrimaryCoreIndex();
     struct log_NKF4 pkt4 = {
         LOG_PACKET_HEADER_INIT(LOG_NKF4_MSG),
-        time_us : hal.scheduler->micros64(),
+        time_us : AP_HAL::micros64(),
         sqrtvarV : (int16_t)(100*velVar),
         sqrtvarP : (int16_t)(100*posVar),
         sqrtvarH : (int16_t)(100*hgtVar),
@@ -1404,7 +1404,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         ahrs.get_NavEKF2().getFlowDebug(-1,normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr);
         struct log_EKF5 pkt5 = {
             LOG_PACKET_HEADER_INIT(LOG_NKF5_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             normInnov : (uint8_t)(min(100*normInnov,255)),
             FIX : (int16_t)(1000*flowInnovX),
             FIY : (int16_t)(1000*flowInnovY),
@@ -1428,7 +1428,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         posDownDeriv = ahrs.get_NavEKF2().getPosDownDerivative(1);
         struct log_EKF1 pkt6 = {
             LOG_PACKET_HEADER_INIT(LOG_NKF6_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             roll    : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
             pitch   : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
             yaw     : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
@@ -1454,7 +1454,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         magIndex = ahrs.get_NavEKF2().getActiveMag(1);
         struct log_NKF2 pkt7 = {
             LOG_PACKET_HEADER_INIT(LOG_NKF7_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             AZbias  : (int8_t)(100*azbias),
             scaleX  : (int16_t)(100*gyroScaleFactor.x),
             scaleY  : (int16_t)(100*gyroScaleFactor.y),
@@ -1475,7 +1475,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         ahrs.get_NavEKF2().getInnovations(1,velInnov, posInnov, magInnov, tasInnov, yawInnov);
         struct log_NKF3 pkt8 = {
             LOG_PACKET_HEADER_INIT(LOG_NKF8_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             innovVN : (int16_t)(100*velInnov.x),
             innovVE : (int16_t)(100*velInnov.y),
             innovVD : (int16_t)(100*velInnov.z),
@@ -1500,7 +1500,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         ahrs.get_NavEKF2().getTiltError(1,tiltError);
         struct log_NKF4 pkt9 = {
             LOG_PACKET_HEADER_INIT(LOG_NKF9_MSG),
-            time_us : hal.scheduler->micros64(),
+            time_us : AP_HAL::micros64(),
             sqrtvarV : (int16_t)(100*velVar),
             sqrtvarP : (int16_t)(100*posVar),
             sqrtvarH : (int16_t)(100*hgtVar),
@@ -1525,7 +1525,7 @@ bool DataFlash_Class::Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission
 {
     struct log_Cmd pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         command_total   : (uint16_t)cmd_total,
         sequence        : (uint16_t)mav_cmd.seq,
         command         : (uint16_t)mav_cmd.command,
@@ -1544,7 +1544,7 @@ void DataFlash_Class::Log_Write_Radio(const mavlink_radio_t &packet)
 {
     struct log_Radio pkt = {
         LOG_PACKET_HEADER_INIT(LOG_RADIO_MSG),
-        time_us      : hal.scheduler->micros64(),
+        time_us      : AP_HAL::micros64(),
         rssi         : packet.rssi,
         remrssi      : packet.remrssi,
         txbuf        : packet.txbuf,
@@ -1570,7 +1570,7 @@ void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, c
 
     struct log_Camera pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
-        time_us     : hal.scheduler->micros64(),
+        time_us     : AP_HAL::micros64(),
         gps_time    : gps.time_week_ms(),
         gps_week    : gps.time_week(),
         latitude    : current_loc.lat,
@@ -1589,7 +1589,7 @@ void DataFlash_Class::Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets)
 {
     struct log_Attitude pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         control_roll    : (int16_t)targets.x,
         roll            : (int16_t)ahrs.roll_sensor,
         control_pitch   : (int16_t)targets.y,
@@ -1608,7 +1608,7 @@ void DataFlash_Class::Log_Write_Current(const AP_BattMonitor &battery, int16_t t
     float voltage2 = battery.voltage2();
     struct log_Current pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
-        time_us             : hal.scheduler->micros64(),
+        time_us             : AP_HAL::micros64(),
         throttle        	: throttle,
         battery_voltage     : (int16_t) (battery.voltage() * 100.0f),
         current_amps        : (int16_t) (battery.current_amps() * 100.0f),
@@ -1627,7 +1627,7 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass)
     const Vector3f &mag_motor_offsets = compass.get_motor_offsets(0);   
     struct log_Compass pkt = {
         LOG_PACKET_HEADER_INIT(LOG_COMPASS_MSG),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         mag_x           : (int16_t)mag_field.x,
         mag_y           : (int16_t)mag_field.y,
         mag_z           : (int16_t)mag_field.z,
@@ -1647,7 +1647,7 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass)
         const Vector3f &mag_motor_offsets2 = compass.get_motor_offsets(1);   
         struct log_Compass pkt2 = {
             LOG_PACKET_HEADER_INIT(LOG_COMPASS2_MSG),
-            time_us         : hal.scheduler->micros64(),
+            time_us         : AP_HAL::micros64(),
             mag_x           : (int16_t)mag_field2.x,
             mag_y           : (int16_t)mag_field2.y,
             mag_z           : (int16_t)mag_field2.z,
@@ -1668,7 +1668,7 @@ void DataFlash_Class::Log_Write_Compass(const Compass &compass)
         const Vector3f &mag_motor_offsets3 = compass.get_motor_offsets(2);   
         struct log_Compass pkt3 = {
             LOG_PACKET_HEADER_INIT(LOG_COMPASS3_MSG),
-            time_us         : hal.scheduler->micros64(),
+            time_us         : AP_HAL::micros64(),
             mag_x           : (int16_t)mag_field3.x,
             mag_y           : (int16_t)mag_field3.y,
             mag_z           : (int16_t)mag_field3.z,
@@ -1689,7 +1689,7 @@ bool DataFlash_Class::Log_Write_Mode(uint8_t mode)
 {
     struct log_Mode pkt = {
         LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
-        time_us  : hal.scheduler->micros64(),
+        time_us  : AP_HAL::micros64(),
         mode     : mode,
         mode_num : mode
     };
@@ -1715,7 +1715,7 @@ void DataFlash_Class::Log_Write_ESC(void)
         if (esc_status.esc_count > 8) {
             esc_status.esc_count = 8;
         }
-        uint64_t time_us = hal.scheduler->micros64();
+        uint64_t time_us = AP_HAL::micros64();
         for (uint8_t i = 0; i < esc_status.esc_count; i++) {
             // skip logging ESCs with a esc_address of zero, and this
             // are probably not populated. The Pixhawk itself should
@@ -1746,7 +1746,7 @@ void DataFlash_Class::Log_Write_Airspeed(AP_Airspeed &airspeed)
     }
     struct log_AIRSPEED pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ARSP_MSG),
-        time_us       : hal.scheduler->micros64(),
+        time_us       : AP_HAL::micros64(),
         airspeed      : airspeed.get_raw_airspeed(),
         diffpressure  : airspeed.get_differential_pressure(),
         temperature   : (int16_t)(temperature * 100.0f),
@@ -1761,7 +1761,7 @@ void DataFlash_Class::Log_Write_PID(uint8_t msg_type, const PID_Info &info)
 {
     struct log_PID pkt = {
         LOG_PACKET_HEADER_INIT(msg_type),
-        time_us         : hal.scheduler->micros64(),
+        time_us         : AP_HAL::micros64(),
         desired         : info.desired,
         P               : info.P,
         I               : info.I,
@@ -1774,7 +1774,7 @@ void DataFlash_Class::Log_Write_PID(uint8_t msg_type, const PID_Info &info)
 
 void DataFlash_Class::Log_Write_Origin(uint8_t origin_type, const Location &loc)
 {
-    uint64_t time_us = hal.scheduler->micros64();
+    uint64_t time_us = AP_HAL::micros64();
     struct log_ORGN pkt = {
         LOG_PACKET_HEADER_INIT(LOG_ORGN_MSG),
         time_us     : time_us,
@@ -1790,7 +1790,7 @@ void DataFlash_Class::Log_Write_RPM(const AP_RPM &rpm_sensor)
 {
     struct log_RPM pkt = {
         LOG_PACKET_HEADER_INIT(LOG_RPM_MSG),
-        time_us     : hal.scheduler->micros64(),
+        time_us     : AP_HAL::micros64(),
         rpm1        : rpm_sensor.get_rpm(0),
         rpm2        : rpm_sensor.get_rpm(1)
     };