AP_Rally: use millis/micros/panic functions

libraries/AP_Rally/AP_Rally.cpp

@@ -94,7 +94,7 @@ bool AP_Rally::set_rally_point_with_index(uint8_t i, const RallyLocation &rallyL
 
     _storage.write_block(i * sizeof(RallyLocation), &rallyLoc, sizeof(RallyLocation));
 
-    _last_change_time_ms = hal.scheduler->millis();
+    _last_change_time_ms = AP_HAL::millis();
 
     return true;
 }