-

diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index a8b3b9c038..320b45d050 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -354,28 +354,15 @@ void Scheduler::teardown()
     _tonealarm_thread.join();
 }
 
-/*
-  trampoline for thread create
-*/
-void *Scheduler::thread_create_trampoline(void *ctx)
-{
-    AP_HAL::MemberProc *t = (AP_HAL::MemberProc *)ctx;
-    (*t)();
-    free(t);
-    return nullptr;
-}
-
 /*
   create a new thread
 */
 bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
 {
-    // take a copy of the MemberProc, it is freed after thread exits
-    AP_HAL::MemberProc *tproc = (AP_HAL::MemberProc *)malloc(sizeof(proc));
-    if (!tproc) {
+    Thread *thread = new Thread{(Thread::task_t)proc};
+    if (!thread) {
         return false;
     }
-    *tproc = proc;
 
     uint8_t thread_priority = APM_LINUX_IO_PRIORITY;
     static const struct {
@@ -399,21 +386,12 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
             break;
         }
     }
-    pthread_t thread;
-    pthread_attr_t thread_attr;
-    struct sched_param param;
-
-    pthread_attr_init(&thread_attr);
-    pthread_attr_setstacksize(&thread_attr, stack_size);
 
-    param.sched_priority = thread_priority;
-    (void)pthread_attr_setschedparam(&thread_attr, &param);
-    pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
-
-    if (pthread_create(&thread, &thread_attr, thread_create_trampoline, tproc) != 0) {
-        free(tproc);
+    thread->set_stack_size(stack_size);
+    if (!thread->start(name, SCHED_FIFO, thread_priority)) {
+        delete thread;
         return false;
     }
-    pthread_setname_np(thread, name);
+
     return true;
 }
diff --git a/libraries/AP_HAL_Linux/Scheduler.h b/libraries/AP_HAL_Linux/Scheduler.h
index 3614c36815..b8c9290144 100644
--- a/libraries/AP_HAL_Linux/Scheduler.h
+++ b/libraries/AP_HAL_Linux/Scheduler.h
@@ -102,8 +102,6 @@ private:
     pthread_t _main_ctx;
 
     Semaphore _io_semaphore;
-
-    static void *thread_create_trampoline(void *ctx);    
 };
 
 }