From 9639add30633962e6ad746a258b38368dd1d6f92 Mon Sep 17 00:00:00 2001
From: Caio Marcelo de Oliveira Filho <caio.oliveira@intel.com>
Date: Fri, 20 Nov 2015 12:14:09 +0900
Subject: [PATCH] AP_RPM: use millis/micros/panic functions

---
 libraries/AP_RPM/AP_RPM.cpp      | 2 +-
 libraries/AP_RPM/RPM_PX4_PWM.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RPM/AP_RPM.cpp b/libraries/AP_RPM/AP_RPM.cpp
index a5b14d8c02..cea636ef42 100644
--- a/libraries/AP_RPM/AP_RPM.cpp
+++ b/libraries/AP_RPM/AP_RPM.cpp
@@ -118,7 +118,7 @@ bool AP_RPM::healthy(uint8_t instance) const
         return false;
     }
     // assume we get readings at at least 1Hz
-    if (hal.scheduler->millis() - state[instance].last_reading_ms > 1000) {
+    if (AP_HAL::millis() - state[instance].last_reading_ms > 1000) {
         return false;
     }
     return true;
diff --git a/libraries/AP_RPM/RPM_PX4_PWM.cpp b/libraries/AP_RPM/RPM_PX4_PWM.cpp
index fce7b5b3ee..8c4ea129a9 100644
--- a/libraries/AP_RPM/RPM_PX4_PWM.cpp
+++ b/libraries/AP_RPM/RPM_PX4_PWM.cpp
@@ -92,7 +92,7 @@ void AP_RPM_PX4_PWM::update(void)
 
     if (count != 0) {
         state.rate_rpm = sum / count;
-        state.last_reading_ms = hal.scheduler->millis();
+        state.last_reading_ms = AP_HAL::millis();
     }
 }