diff --git a/flight/modules/AltitudeHold/altitudehold.c b/flight/modules/AltitudeHold/altitudehold.c
index dd0fc5bf5..ce7c556c8 100644
--- a/flight/modules/AltitudeHold/altitudehold.c
+++ b/flight/modules/AltitudeHold/altitudehold.c
@@ -86,7 +86,7 @@ int32_t AltitudeHoldStart()
 {
     // Start main task
     SettingsUpdatedCb(NULL);
-    DelayedCallbackDispatch(altitudeHoldCBInfo);
+    PIOS_CALLBACKSCHEDULER_Dispatch(altitudeHoldCBInfo);
 
     return 0;
 }
@@ -103,7 +103,7 @@ int32_t AltitudeHoldInitialize()
 
     // Create object queue
 
-    altitudeHoldCBInfo = DelayedCallbackCreate(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_ALTITUDEHOLD, STACK_SIZE_BYTES);
+    altitudeHoldCBInfo = PIOS_CALLBACKSCHEDULER_Create(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_ALTITUDEHOLD, STACK_SIZE_BYTES);
     AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
 
     return 0;
@@ -130,7 +130,7 @@ static void altitudeHoldTask(void)
         pid_zero(&pid0);
         pid_zero(&pid1);
         StabilizationDesiredThrottleGet(&startThrottle);
-        DelayedCallbackSchedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
+        PIOS_CALLBACKSCHEDULER_Schedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
         return;
 
         break;
@@ -192,7 +192,7 @@ static void altitudeHoldTask(void)
 
     StabilizationDesiredSet(&stab);
 
-    DelayedCallbackSchedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
+    PIOS_CALLBACKSCHEDULER_Schedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
 }
 
 static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
diff --git a/flight/modules/CallbackTest/callbacktest.c b/flight/modules/CallbackTest/callbacktest.c
index 56d8243a2..d5be343de 100644
--- a/flight/modules/CallbackTest/callbacktest.c
+++ b/flight/modules/CallbackTest/callbacktest.c
@@ -65,13 +65,13 @@ int32_t CallbackTestInitialize()
 {
     mutex     = xSemaphoreCreateRecursiveMutex();
 
-    cbinfo[0] = DelayedCallbackCreate(&DelayedCb0, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
-    cbinfo[1] = DelayedCallbackCreate(&DelayedCb1, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
-    cbinfo[2] = DelayedCallbackCreate(&DelayedCb2, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
-    cbinfo[3] = DelayedCallbackCreate(&DelayedCb3, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
-    cbinfo[4] = DelayedCallbackCreate(&DelayedCb4, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
-    cbinfo[5] = DelayedCallbackCreate(&DelayedCb5, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
-    cbinfo[6] = DelayedCallbackCreate(&DelayedCb6, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 20, -1, STACK_SIZE);
+    cbinfo[0] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb0, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
+    cbinfo[1] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb1, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
+    cbinfo[2] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb2, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
+    cbinfo[3] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb3, CALLBACK_PRIORITY_CRITICAL, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
+    cbinfo[4] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb4, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
+    cbinfo[5] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb5, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 2, -1, STACK_SIZE);
+    cbinfo[6] = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb6, CALLBACK_PRIORITY_LOW, tskIDLE_PRIORITY + 20, -1, STACK_SIZE);
 
 
     return 0;
@@ -79,22 +79,22 @@ int32_t CallbackTestInitialize()
 int32_t CallbackTestStart()
 {
     xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-    DelayedCallbackDispatch(cbinfo[3]);
-    DelayedCallbackDispatch(cbinfo[2]);
-    DelayedCallbackDispatch(cbinfo[1]);
-    DelayedCallbackDispatch(cbinfo[0]);
+    PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[3]);
+    PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[2]);
+    PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[1]);
+    PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[0]);
     // different callback priorities within a taskpriority
-    DelayedCallbackSchedule(cbinfo[4], 30000, CALLBACK_UPDATEMODE_NONE);
-    DelayedCallbackSchedule(cbinfo[4], 5000, CALLBACK_UPDATEMODE_OVERRIDE);
-    DelayedCallbackSchedule(cbinfo[4], 4000, CALLBACK_UPDATEMODE_SOONER);
-    DelayedCallbackSchedule(cbinfo[4], 10000, CALLBACK_UPDATEMODE_SOONER);
-    DelayedCallbackSchedule(cbinfo[4], 1000, CALLBACK_UPDATEMODE_LATER);
-    DelayedCallbackSchedule(cbinfo[4], 4800, CALLBACK_UPDATEMODE_LATER);
-    DelayedCallbackSchedule(cbinfo[4], 48000, CALLBACK_UPDATEMODE_NONE);
+    PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 30000, CALLBACK_UPDATEMODE_NONE);
+    PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 5000, CALLBACK_UPDATEMODE_OVERRIDE);
+    PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 4000, CALLBACK_UPDATEMODE_SOONER);
+    PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 10000, CALLBACK_UPDATEMODE_SOONER);
+    PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 1000, CALLBACK_UPDATEMODE_LATER);
+    PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 4800, CALLBACK_UPDATEMODE_LATER);
+    PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[4], 48000, CALLBACK_UPDATEMODE_NONE);
     // should be at 4.8 seconds after this, allowing for exactly 9 prints of the following
-    DelayedCallbackSchedule(cbinfo[5], 500, CALLBACK_UPDATEMODE_NONE);
+    PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[5], 500, CALLBACK_UPDATEMODE_NONE);
     // delayed counter with 500 ms
-    DelayedCallbackDispatch(cbinfo[6]);
+    PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[6]);
     // high task prio
     xSemaphoreGiveRecursive(mutex);
     return 0;
@@ -104,28 +104,28 @@ static void DelayedCb0()
 {
     DEBUGPRINT("delayed counter low prio 0 updated: %i\n", counter[0]);
     if (++counter[0] < 10) {
-        DelayedCallbackDispatch(cbinfo[0]);
+        PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[0]);
     }
 }
 static void DelayedCb1()
 {
     DEBUGPRINT("delayed counter low prio 1 updated: %i\n", counter[1]);
     if (++counter[1] < 10) {
-        DelayedCallbackDispatch(cbinfo[1]);
+        PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[1]);
     }
 }
 static void DelayedCb2()
 {
     DEBUGPRINT("delayed counter high prio 2 updated: %i\n", counter[2]);
     if (++counter[2] < 10) {
-        DelayedCallbackDispatch(cbinfo[2]);
+        PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[2]);
     }
 }
 static void DelayedCb3()
 {
     DEBUGPRINT("delayed counter high prio 3 updated: %i\n", counter[3]);
     if (++counter[3] < 10) {
-        DelayedCallbackDispatch(cbinfo[3]);
+        PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[3]);
     }
 }
 static void DelayedCb4()
@@ -137,7 +137,7 @@ static void DelayedCb5()
 {
     DEBUGPRINT("delayed scheduled counter 5 updated: %i\n", counter[5]);
     if (++counter[5] < 10) {
-        DelayedCallbackSchedule(cbinfo[5], 500, CALLBACK_UPDATEMODE_NONE);
+        PIOS_CALLBACKSCHEDULER_Schedule(cbinfo[5], 500, CALLBACK_UPDATEMODE_NONE);
     }
     // it will likely only reach 8 due to cb4 aborting the run
 }
@@ -145,6 +145,6 @@ static void DelayedCb6()
 {
     DEBUGPRINT("delayed counter 6 (high task prio) updated: %i\n", counter[6]);
     if (++counter[6] < 10) {
-        DelayedCallbackDispatch(cbinfo[6]);
+        PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo[6]);
     }
 }
diff --git a/flight/modules/Example/examplemodcallback.c b/flight/modules/Example/examplemodcallback.c
index 8bd052588..7c63475fc 100644
--- a/flight/modules/Example/examplemodcallback.c
+++ b/flight/modules/Example/examplemodcallback.c
@@ -72,7 +72,7 @@ int32_t ExampleModCallbackInitialize()
     // Listen for ExampleObject1 updates, connect a callback function
     ExampleObject1ConnectCallback(&ObjectUpdatedCb);
 
-    cbinfo = DelayedCallbackCreate(&DelayedCb, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_EXAMPLE, STACK_SIZE);
+    cbinfo = PIOS_CALLBACKSCHEDULER_Create(&DelayedCb, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_EXAMPLE, STACK_SIZE);
 
     return 0;
 }
@@ -86,11 +86,11 @@ int32_t ExampleModCallbackInitialize()
  */
 static void ObjectUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 {
-    DelayedCallbackDispatch(cbinfo);
+    PIOS_CALLBACKSCHEDULER_Dispatch(cbinfo);
 }
 
 /**
- * This function is called by the DelayedCallbackScheduler when its execution
+ * This function is called by the PIOS_CALLBACKSCHEDULER_Scheduler when its execution
  * has been requested.  Callbacks scheduled for execution are executed in the
  * same thread in a round robin fashion. The Dispatch function to reschedule
  * execution can be called from within the Callback itself, in which case the
@@ -136,5 +136,5 @@ ExampleObject2Set(&data2);
 
 // call the module again 10 seconds later,
 // even if the exampleobject has not been updated
-DelayedCallbackSchedule(cbinfo, 10 * 1000, CALLBACK_UPDATEMODE_NONE);
+PIOS_CALLBACKSCHEDULER_Schedule(cbinfo, 10 * 1000, CALLBACK_UPDATEMODE_NONE);
 }
diff --git a/flight/modules/OPLink/oplinkmod.c b/flight/modules/OPLink/oplinkmod.c
index 994e0d5d9..2ac5e6d74 100644
--- a/flight/modules/OPLink/oplinkmod.c
+++ b/flight/modules/OPLink/oplinkmod.c
@@ -119,7 +119,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
     MODULE_TASKCREATE_ALL;
 
     /* start the delayed callback scheduler */
-    CallbackSchedulerStart();
+    PIOS_CALLBACKSCHEDULER_Start();
 
     if (mallocFailed) {
         /* We failed to malloc during task creation,
diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index 4e337e10d..632f4a8e9 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -96,7 +96,7 @@ int32_t PathPlannerStart()
     PathStatusConnectCallback(statusUpdated);
 
     // Start main task callback
-    DelayedCallbackDispatch(pathPlannerHandle);
+    PIOS_CALLBACKSCHEDULER_Dispatch(pathPlannerHandle);
 
     return 0;
 }
@@ -116,8 +116,8 @@ int32_t PathPlannerInitialize()
     WaypointInitialize();
     WaypointActiveInitialize();
 
-    pathPlannerHandle = DelayedCallbackCreate(&pathPlannerTask, CALLBACK_PRIORITY_REGULAR, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER0, STACK_SIZE_BYTES);
-    pathDesiredUpdaterHandle = DelayedCallbackCreate(&updatePathDesired, CALLBACK_PRIORITY_CRITICAL, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER1, STACK_SIZE_BYTES);
+    pathPlannerHandle = PIOS_CALLBACKSCHEDULER_Create(&pathPlannerTask, CALLBACK_PRIORITY_REGULAR, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER0, STACK_SIZE_BYTES);
+    pathDesiredUpdaterHandle = PIOS_CALLBACKSCHEDULER_Create(&updatePathDesired, CALLBACK_PRIORITY_CRITICAL, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER1, STACK_SIZE_BYTES);
 
     return 0;
 }
@@ -129,7 +129,7 @@ MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart);
  */
 static void pathPlannerTask()
 {
-    DelayedCallbackSchedule(pathPlannerHandle, PATH_PLANNER_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
+    PIOS_CALLBACKSCHEDULER_Schedule(pathPlannerHandle, PATH_PLANNER_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
 
     bool endCondition = false;
 
@@ -333,13 +333,13 @@ static uint8_t checkPathPlan()
 // callback function when status changed, issue execution of state machine
 void commandUpdated(__attribute__((unused)) UAVObjEvent *ev)
 {
-    DelayedCallbackDispatch(pathDesiredUpdaterHandle);
+    PIOS_CALLBACKSCHEDULER_Dispatch(pathDesiredUpdaterHandle);
 }
 
 // callback function when waypoints changed in any way, update pathDesired
 void statusUpdated(__attribute__((unused)) UAVObjEvent *ev)
 {
-    DelayedCallbackDispatch(pathPlannerHandle);
+    PIOS_CALLBACKSCHEDULER_Dispatch(pathPlannerHandle);
 }
 
 
diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index 587070547..bff326c87 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -268,7 +268,7 @@ int32_t StateEstimationInitialize(void)
     stack_required = maxint32_t(stack_required, filterEKF13iInitialize(&ekf13iFilter));
     stack_required = maxint32_t(stack_required, filterEKF13Initialize(&ekf13Filter));
 
-    stateEstimationCallback = DelayedCallbackCreate(&StateEstimationCb, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_STATEESTIMATION, stack_required);
+    stateEstimationCallback = PIOS_CALLBACKSCHEDULER_Create(&StateEstimationCb, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_STATEESTIMATION, stack_required);
 
     return 0;
 }
@@ -307,7 +307,7 @@ static void StateEstimationCb(void)
     // after system startup, first few sensor readings might be messed up, delay until everything has settled
     if (bootDelay) {
         bootDelay--;
-        DelayedCallbackSchedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER);
+        PIOS_CALLBACKSCHEDULER_Schedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER);
         return;
     }
 
@@ -390,7 +390,7 @@ static void StateEstimationCb(void)
 
         // we are not done, re-dispatch self execution
         runState = RUNSTATE_FILTER;
-        DelayedCallbackDispatch(stateEstimationCallback);
+        PIOS_CALLBACKSCHEDULER_Dispatch(stateEstimationCallback);
         break;
 
     case RUNSTATE_FILTER:
@@ -407,7 +407,7 @@ static void StateEstimationCb(void)
         if (!current) {
             runState = RUNSTATE_SAVE;
         }
-        DelayedCallbackDispatch(stateEstimationCallback);
+        PIOS_CALLBACKSCHEDULER_Dispatch(stateEstimationCallback);
         break;
 
     case RUNSTATE_SAVE:
@@ -460,9 +460,9 @@ static void StateEstimationCb(void)
         // we are done, re-schedule next self execution
         runState = RUNSTATE_LOAD;
         if (updatedSensors) {
-            DelayedCallbackDispatch(stateEstimationCallback);
+            PIOS_CALLBACKSCHEDULER_Dispatch(stateEstimationCallback);
         } else {
-            DelayedCallbackSchedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER);
+            PIOS_CALLBACKSCHEDULER_Schedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER);
         }
         break;
     }
@@ -515,7 +515,7 @@ static void sensorUpdatedCb(UAVObjEvent *ev)
         updatedSensors |= SENSORUPDATES_airspeed;
     }
 
-    DelayedCallbackDispatch(stateEstimationCallback);
+    PIOS_CALLBACKSCHEDULER_Dispatch(stateEstimationCallback);
 }
 
 
diff --git a/flight/modules/System/systemmod.c b/flight/modules/System/systemmod.c
index 88b4fd1fe..010080d66 100644
--- a/flight/modules/System/systemmod.c
+++ b/flight/modules/System/systemmod.c
@@ -176,7 +176,7 @@ static void systemTask(__attribute__((unused)) void *parameters)
     MODULE_TASKCREATE_ALL;
 
     /* start the delayed callback scheduler */
-    CallbackSchedulerStart();
+    PIOS_CALLBACKSCHEDULER_Start();
 
     if (mallocFailed) {
         /* We failed to malloc during task creation,
diff --git a/flight/pios/common/pios_callbackscheduler.c b/flight/pios/common/pios_callbackscheduler.c
index d31ec3202..21ccaff14 100644
--- a/flight/pios/common/pios_callbackscheduler.c
+++ b/flight/pios/common/pios_callbackscheduler.c
@@ -1,7 +1,7 @@
 /**
  ******************************************************************************
  *
- * @file       callbackscheduler.c
+ * @file       pios_callbackscheduler.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
  * @brief      Scheduler to run callback functions from a shared context with given priorities.
  *
@@ -24,8 +24,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include <openpilot.h>
+#include <pios.h>
+#ifdef PIOS_INCLUDE_CALLBACKSCHEDULER
 
+#include <utlist.h>
+#include <uavobjectmanager.h>
 #include <taskinfo.h>
 
 // Private constants
@@ -74,7 +77,7 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
  * must be called before any other functions are called
  * \return Success (0), failure (-1)
  */
-int32_t CallbackSchedulerInitialize()
+int32_t PIOS_CALLBACKSCHEDULER_Initialize()
 {
     // Initialize variables
     schedulerTasks   = NULL;
@@ -100,7 +103,7 @@ int32_t CallbackSchedulerInitialize()
  * they can be marked for later execution by executing the dispatch function.
  * \return Success (0), failure (-1)
  */
-int32_t CallbackSchedulerStart()
+int32_t PIOS_CALLBACKSCHEDULER_Start()
 {
     xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
 
@@ -144,7 +147,7 @@ int32_t CallbackSchedulerStart()
  * UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override)
  * \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden
  */
-int32_t DelayedCallbackSchedule(
+int32_t PIOS_CALLBACKSCHEDULER_Schedule(
     DelayedCallbackInfo *cbinfo,
     int32_t milliseconds,
     DelayedCallbackUpdateMode updatemode)
@@ -192,7 +195,7 @@ int32_t DelayedCallbackSchedule(
  * \param[in] cbinfo the callback handle
  * \return Success (-1), failure (0)
  */
-int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo)
+int32_t PIOS_CALLBACKSCHEDULER_Dispatch(DelayedCallbackInfo *cbinfo)
 {
     PIOS_Assert(cbinfo);
 
@@ -216,7 +219,7 @@ int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo)
  * Check the demo task for your port to find the syntax required.
  * \return Success (-1), failure (0)
  */
-int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken)
+int32_t PIOS_CALLBACKSCHEDULER_DispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken)
 {
     PIOS_Assert(cbinfo);
 
@@ -238,7 +241,7 @@ int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigh
  * \param[in] stacksize The stack requirements of the callback when called by the scheduler.
  * \return CallbackInfo Pointer on success, NULL if failed.
  */
-DelayedCallbackInfo *DelayedCallbackCreate(
+DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
     DelayedCallback cb,
     DelayedCallbackPriority priority,
     DelayedCallbackPriorityTask priorityTask,
@@ -287,7 +290,7 @@ DelayedCallbackInfo *DelayedCallbackCreate(
         // add to list of scheduler tasks
         LL_APPEND(schedulerTasks, task);
 
-        // Previously registered tasks are spawned when CallbackSchedulerStart() is called.
+        // Previously registered tasks are spawned when PIOS_CALLBACKSCHEDULER_Start() is called.
         // Tasks registered afterwards need to spawn upon creation.
         if (schedulerStarted) {
             xTaskCreate(
@@ -414,3 +417,5 @@ static void CallbackSchedulerTask(void *task)
         }
     }
 }
+
+#endif // ifdef PIOS_INCLUDE_CALLBACKSCHEDULER
diff --git a/flight/pios/inc/pios_callbackscheduler.h b/flight/pios/inc/pios_callbackscheduler.h
index 3ec3fd648..b72d4d0a4 100644
--- a/flight/pios/inc/pios_callbackscheduler.h
+++ b/flight/pios/inc/pios_callbackscheduler.h
@@ -1,9 +1,9 @@
 /**
  ******************************************************************************
  *
- * @file       callbackscheduler.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include files of the uavobjectlist library
+ * @file       pios_callbackscheduler.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      Include files of the PIOS_CALLBACKSCHEDULER
  * @see        The GNU Public License (GPL) Version 3
  *
  *****************************************************************************/
@@ -23,8 +23,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef CALLBACKSCHEDULER_H
-#define CALLBACKSCHEDULER_H
+#ifndef PIOS_CALLBACKSCHEDULER_H
+#define PIOS_CALLBACKSCHEDULER_H
 
 // Public types
 typedef enum {
@@ -48,7 +48,7 @@ typedef enum {
 // ...ABcABdABxABcABdAByABcABdABxABcABdABy...
 // However if only the 3 callbacks, A, c and x want to execute, you will get:
 // ...AcAxAcAxAcAxAcAxAcAxAcAxAcAxAcAxAcAx...
-// And if onlz A and y need execution it will be:
+// And if only A and y need execution it will be:
 // ...AyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAyAy...
 // despite their different priority they would get treated equally in this case.
 //
@@ -113,7 +113,7 @@ typedef struct DelayedCallbackInfoStruct DelayedCallbackInfo;
  * must be called before any other functions are called
  * \return Success (0), failure (-1)
  */
-int32_t CallbackSchedulerInitialize();
+int32_t PIOS_CALLBACKSCHEDULER_Initialize();
 
 /**
  * Start all scheduler tasks
@@ -125,7 +125,7 @@ int32_t CallbackSchedulerInitialize();
  * they can be marked for later execution by executing the dispatch function.
  * \return Success (0), failure (-1)
  */
-int32_t CallbackSchedulerStart();
+int32_t PIOS_CALLBACKSCHEDULER_Start();
 
 /**
  * Register a new callback to be called by a delayed callback scheduler task.
@@ -138,7 +138,7 @@ int32_t CallbackSchedulerStart();
  * \param[in] callbackID - CallbackInfoRunningElem from CallbackInfo UAVObject, unique identified to collect stats for the callback, -1 to ignore!
  * \return CallbackInfo Pointer on success, NULL if failed.
  */
-DelayedCallbackInfo *DelayedCallbackCreate(
+DelayedCallbackInfo *PIOS_CALLBACKSCHEDULER_Create(
     DelayedCallback cb,
     DelayedCallbackPriority priority,
     DelayedCallbackPriorityTask priorityTask,
@@ -157,7 +157,7 @@ DelayedCallbackInfo *DelayedCallbackCreate(
  * UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override)
  * \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden
  */
-int32_t DelayedCallbackSchedule(
+int32_t PIOS_CALLBACKSCHEDULER_Schedule(
     DelayedCallbackInfo *cbinfo,
     int32_t milliseconds,
     DelayedCallbackUpdateMode updatemode);
@@ -168,7 +168,7 @@ int32_t DelayedCallbackSchedule(
  * \param[in] *cbinfo the callback handle
  * \return Success (-1), failure (0)
  */
-int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo);
+int32_t PIOS_CALLBACKSCHEDULER_Dispatch(DelayedCallbackInfo *cbinfo);
 
 /**
  * Dispatch an event by invoking the supplied callback. The function
@@ -184,6 +184,6 @@ int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo);
  * Check the demo task for your port to find the syntax required.
  * \return Success (-1), failure (0)
  */
-int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken);
+int32_t PIOS_CALLBACKSCHEDULER_DispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken);
 
-#endif // CALLBACKSCHEDULER_H
+#endif // PIOS_CALLBACKSCHEDULER_H
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index 194387fdc..4026343ae 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -198,7 +198,7 @@ void PIOS_Board_Init(void)
     }
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c b/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
index 7487a17aa..7fa958a38 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board_posix.c
@@ -39,7 +39,7 @@ void PIOS_Board_Init(void)
     PIOS_DELAY_Init();
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_board.c b/flight/targets/boards/oplinkmini/firmware/pios_board.c
index 85b3a9939..56adfb4f1 100644
--- a/flight/targets/boards/oplinkmini/firmware/pios_board.c
+++ b/flight/targets/boards/oplinkmini/firmware/pios_board.c
@@ -106,7 +106,7 @@ void PIOS_Board_Init(void)
     }
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c b/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
index 7487a17aa..7fa958a38 100644
--- a/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
+++ b/flight/targets/boards/oplinkmini/firmware/pios_board_posix.c
@@ -39,7 +39,7 @@ void PIOS_Board_Init(void)
     PIOS_DELAY_Init();
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/osd/firmware/pios_board.c b/flight/targets/boards/osd/firmware/pios_board.c
index ffaa1dd36..0c45ddfdc 100644
--- a/flight/targets/boards/osd/firmware/pios_board.c
+++ b/flight/targets/boards/osd/firmware/pios_board.c
@@ -178,7 +178,7 @@ void PIOS_Board_Init(void)
     }
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index 15b667214..262fcf899 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -404,7 +404,7 @@ void PIOS_Board_Init(void)
     }
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/revolution/firmware/pios_board_sim.c b/flight/targets/boards/revolution/firmware/pios_board_sim.c
index 4a9453efb..2171be22c 100644
--- a/flight/targets/boards/revolution/firmware/pios_board_sim.c
+++ b/flight/targets/boards/revolution/firmware/pios_board_sim.c
@@ -132,7 +132,7 @@ void PIOS_Board_Init(void)
     PIOS_DELAY_Init();
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/revoproto/firmware/pios_board.c b/flight/targets/boards/revoproto/firmware/pios_board.c
index ed142f951..9206a3f24 100644
--- a/flight/targets/boards/revoproto/firmware/pios_board.c
+++ b/flight/targets/boards/revoproto/firmware/pios_board.c
@@ -444,7 +444,7 @@ void PIOS_Board_Init(void)
     }
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/revoproto/firmware/pios_board_sim.c b/flight/targets/boards/revoproto/firmware/pios_board_sim.c
index 401d4be57..a99f0b3e8 100644
--- a/flight/targets/boards/revoproto/firmware/pios_board_sim.c
+++ b/flight/targets/boards/revoproto/firmware/pios_board_sim.c
@@ -132,7 +132,7 @@ void PIOS_Board_Init(void)
     PIOS_DELAY_Init();
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/targets/boards/simposix/firmware/pios_board.c b/flight/targets/boards/simposix/firmware/pios_board.c
index d3dcc3f17..a11316893 100644
--- a/flight/targets/boards/simposix/firmware/pios_board.c
+++ b/flight/targets/boards/simposix/firmware/pios_board.c
@@ -132,7 +132,7 @@ void PIOS_Board_Init(void)
     }
 
     /* Initialize the delayed callback library */
-    CallbackSchedulerInitialize();
+    PIOS_CALLBACKSCHEDULER_Initialize();
 
     /* Initialize UAVObject libraries */
     EventDispatcherInitialize();
diff --git a/flight/uavobjects/eventdispatcher.c b/flight/uavobjects/eventdispatcher.c
index 94564fc54..e33ac9e30 100644
--- a/flight/uavobjects/eventdispatcher.c
+++ b/flight/uavobjects/eventdispatcher.c
@@ -103,8 +103,8 @@ int32_t EventDispatcherInitialize()
     mQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(EventCallbackInfo));
 
     // Create callback
-    eventSchedulerCallback = DelayedCallbackCreate(&eventTask, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_EVENTDISPATCHER, STACK_SIZE * 4);
-    DelayedCallbackDispatch(eventSchedulerCallback);
+    eventSchedulerCallback = PIOS_CALLBACKSCHEDULER_Create(&eventTask, CALLBACK_PRIORITY, TASK_PRIORITY, CALLBACKINFO_RUNNING_EVENTDISPATCHER, STACK_SIZE * 4);
+    PIOS_CALLBACKSCHEDULER_Dispatch(eventSchedulerCallback);
 
     // Done
     return 0;
@@ -148,7 +148,7 @@ int32_t EventCallbackDispatch(UAVObjEvent *ev, UAVObjEventCallback cb)
     evInfo.queue = 0;
     // Push to queue
     int32_t result = xQueueSend(mQueue, &evInfo, 0); // will not block if queue is full
-    DelayedCallbackDispatch(eventSchedulerCallback);
+    PIOS_CALLBACKSCHEDULER_Dispatch(eventSchedulerCallback);
     return result;
 }
 
@@ -306,7 +306,7 @@ static void eventTask()
         timeToNextUpdateMs = processPeriodicUpdates();
     }
 
-    DelayedCallbackSchedule(eventSchedulerCallback, timeToNextUpdateMs - (xTaskGetTickCount() * portTICK_RATE_MS), CALLBACK_UPDATEMODE_SOONER);
+    PIOS_CALLBACKSCHEDULER_Schedule(eventSchedulerCallback, timeToNextUpdateMs - (xTaskGetTickCount() * portTICK_RATE_MS), CALLBACK_UPDATEMODE_SOONER);
 }
 
 /**