diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index c04f34555b..854e90a9b6 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -115,6 +115,16 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #endif
 };
 
+
+void Rover::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                                uint8_t &task_count,
+                                uint32_t &log_bit)
+{
+    tasks = &scheduler_tasks[0];
+    task_count = ARRAY_SIZE(scheduler_tasks);
+    log_bit = MASK_LOG_PM;
+}
+
 constexpr int8_t Rover::_failsafe_priorities[7];
 
 Rover::Rover(void) :
@@ -141,19 +151,6 @@ void Rover::stats_update(void)
 }
 #endif
 
-/*
-  setup is called when the sketch starts
- */
-void Rover::setup()
-{
-    // load the default values of variables listed in var_info[]
-    AP_Param::setup_sketch_defaults();
-
-    init_ardupilot();
-
-    // initialise the main loop scheduler
-    scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), MASK_LOG_PM);
-}
 
 /*
   loop() is called rapidly while the sketch is running
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index f2e826eaf1..85f1f56f14 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -127,7 +127,6 @@ public:
     Rover(void);
 
     // HAL::Callbacks implementation.
-    void setup(void) override;
     void loop(void) override;
 
 private:
@@ -384,8 +383,13 @@ private:
     // Steering.cpp
     void set_servos(void);
 
+    // Rover.cpp
+    void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
+                             uint8_t &task_count,
+                             uint32_t &log_bit) override;
+
     // system.cpp
-    void init_ardupilot();
+    void init_ardupilot() override;
     void startup_ground(void);
     void update_ahrs_flyforward();
     bool set_mode(Mode &new_mode, ModeReason reason);