diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index f8d7233967..3173740c01 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -54,7 +54,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_events,          50,    150),
     SCHED_TASK_CLASS(AP_BattMonitor, &plane.battery, read, 10, 300),
     SCHED_TASK(compass_accumulate,     50,    200),
-    SCHED_TASK(barometer_accumulate,   50,    150),
+    SCHED_TASK_CLASS(AP_Baro, &plane.barometer, accumulate, 50, 150),
     SCHED_TASK(update_notify,          50,    300),
     SCHED_TASK(read_rangefinder,       50,    100),
     SCHED_TASK(ice_update,             10,    100),
@@ -67,8 +67,12 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(check_long_failsafe,     3,    400),
     SCHED_TASK(rpm_update,             10,    100),
     SCHED_TASK(airspeed_ratio_update,   1,    100),
-    SCHED_TASK(update_mount,           50,    100),
-    SCHED_TASK(update_trigger,         50,    100),
+#if MOUNT == ENABLED
+    SCHED_TASK_CLASS(AP_Mount, &plane.camera_mount, update, 50, 100),
+#endif // MOUNT == ENABLED
+#if CAMERA == ENABLED
+    SCHED_TASK_CLASS(AP_Camera, &plane.camera, update_trigger, 50, 100),
+#endif // CAMERA == ENABLED
     SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging,         0.2,    100),
     SCHED_TASK(compass_save,          0.1,    200),
     SCHED_TASK(Log_Write_Fast,         25,    300),
@@ -76,16 +80,18 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_logging2,        25,    300),
     SCHED_TASK(update_soaring,         50,    400),
     SCHED_TASK(parachute_check,        10,    200),
-    SCHED_TASK(terrain_update,         10,    200),
+#if AP_TERRAIN_AVAILABLE
+    SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200),
+#endif // AP_TERRAIN_AVAILABLE
     SCHED_TASK(update_is_flying_5Hz,    5,    100),
 #if LOGGING_ENABLED == ENABLED
-    SCHED_TASK(dataflash_periodic,     50,    400),
+    SCHED_TASK_CLASS(DataFlash_Class, &plane.DataFlash, periodic_tasks, 50, 400),
 #endif
-    SCHED_TASK(ins_periodic,           50,     50),
+    SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50),
     SCHED_TASK(avoidance_adsb_update,  10,    100),
     SCHED_TASK(button_update,           5,    100),
 #if STATS_ENABLED == ENABLED
-    SCHED_TASK(stats_update,            1,    100),
+    SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100),
 #endif
 #if GRIPPER_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75),
@@ -94,23 +100,11 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 
 constexpr int8_t Plane::_failsafe_priorities[5];
 
-#if STATS_ENABLED == ENABLED
-/*
-  update AP_Stats
- */
-void Plane::stats_update(void)
-{
-    g2.stats.update();
-}
-#endif
-
 void Plane::setup() 
 {
     // load the default values of variables listed in var_info[]
     AP_Param::setup_sketch_defaults();
 
-    AP_Notify::flags.failsafe_battery = false;
-
     rssi.init();
 
     init_ardupilot();
@@ -183,26 +177,6 @@ void Plane::update_speed_height(void)
 }
 
 
-/*
-  update camera mount
- */
-void Plane::update_mount(void)
-{
-#if MOUNT == ENABLED
-    camera_mount.update();
-#endif
-}
-
-/*
-  update camera trigger
- */
-void Plane::update_trigger(void)
-{
-#if CAMERA == ENABLED
-    camera.update_trigger();
-#endif
-}
-
 /*
   read and update compass
  */
@@ -226,14 +200,6 @@ void Plane::compass_accumulate(void)
     }    
 }
 
-/*
-  try to accumulate a baro reading
- */
-void Plane::barometer_accumulate(void)
-{
-    barometer.accumulate();
-}
-
 /*
   do 10Hz logging
  */
@@ -355,24 +321,6 @@ void Plane::compass_save()
     }
 }
 
-void Plane::terrain_update(void)
-{
-#if AP_TERRAIN_AVAILABLE
-    terrain.update();
-#endif
-}
-
-
-void Plane::ins_periodic(void)
-{
-    ins.periodic();
-}
-
-void Plane::dataflash_periodic(void)
-{
-    DataFlash.periodic_tasks();
-}
-
 /*
   once a second update the airspeed calibration ratio
  */
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 6b689335cd..d364c5fa79 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -912,7 +912,6 @@ private:
     void read_airspeed(void);
     void rpm_update(void);
     void button_update(void);
-    void stats_update();
     void ice_update(void);
     void init_ardupilot();
     void startup_ground(void);
@@ -943,16 +942,12 @@ private:
     void afs_fs_check(void);
     void compass_accumulate(void);
     void compass_cal_update();
-    void barometer_accumulate(void);
     void update_optical_flow(void);
     void one_second_loop(void);
     void airspeed_ratio_update(void);
-    void update_mount(void);
-    void update_trigger(void);    
     void compass_save(void);
     void update_logging1(void);
     void update_logging2(void);
-    void terrain_update(void);
     void avoidance_adsb_update(void);
     void update_flight_mode(void);
     void stabilize();
@@ -1025,8 +1020,6 @@ private:
     void notify_flight_mode(enum FlightMode mode);
     void log_init();
     void init_capabilities(void);
-    void ins_periodic();
-    void dataflash_periodic(void);
     void parachute_check();
 #if PARACHUTE == ENABLED
     void do_parachute(const AP_Mission::Mission_Command& cmd);