diff --git a/src/drivers/magnetometer/bmm150/bmm150.cpp b/src/drivers/magnetometer/bmm150/bmm150.cpp
index 21c0fb90e1..cbf8ab57ef 100644
--- a/src/drivers/magnetometer/bmm150/bmm150.cpp
+++ b/src/drivers/magnetometer/bmm150/bmm150.cpp
@@ -249,8 +249,9 @@ usage()
 } // namespace bmm150
 
 
-BMM150 :: BMM150(int bus, const char *path, enum Rotation rotation) :
+BMM150::BMM150(int bus, const char *path, enum Rotation rotation) :
 	I2C("BMM150", path, bus, BMM150_SLAVE_ADDRESS, BMM150_BUS_SPEED),
+	ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
 	_running(false),
 	_call_interval(0),
 	_reports(nullptr),
@@ -285,9 +286,6 @@ BMM150 :: BMM150(int bus, const char *path, enum Rotation rotation) :
 {
 	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_BMM150;
 
-	// work_cancel in the dtor will explode if we don't do this...
-	memset(&_work, 0, sizeof(_work));
-
 	// default scaling
 	_scale.x_offset = 0;
 	_scale.x_scale = 1.0f;
@@ -415,16 +413,14 @@ BMM150::start()
 	_reports->flush();
 
 	/* schedule a cycle to start things */
-	work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this, 1);
-
+	ScheduleNow();
 }
 
 void
 BMM150::stop()
 {
 	_running = false;
-	work_cancel(HPWORK, &_work);
-
+	ScheduleClear();
 }
 
 ssize_t
@@ -488,26 +484,17 @@ BMM150::read(struct file *filp, char *buffer, size_t buflen)
 
 }
 
-
 void
-BMM150::cycle_trampoline(void *arg)
-{
-	BMM150 *dev = reinterpret_cast<BMM150 *>(arg);
-
-	/* make measurement */
-	dev->cycle();
-}
-
-void
-BMM150::cycle()
+BMM150::Run()
 {
 	if (_collect_phase) {
 		collect();
-		unsigned wait_gap = _call_interval - USEC2TICK(BMM150_CONVERSION_INTERVAL);
+		unsigned wait_gap = _call_interval - BMM150_CONVERSION_INTERVAL;
 
 		if ((wait_gap != 0) && (_running)) {
-			work_queue(HPWORK, &_work, (worker_t)&BMM150::cycle_trampoline, this,
-				   wait_gap); //need to wait some time before new measurement
+			// need to wait some time before new measurement
+			ScheduleDelayed(wait_gap);
+
 			return;
 		}
 
@@ -517,11 +504,7 @@ BMM150::cycle()
 
 	if ((_running)) {
 		/* schedule a fresh cycle call when the measurement is done */
-		work_queue(HPWORK,
-			   &_work,
-			   (worker_t)&BMM150::cycle_trampoline,
-			   this,
-			   USEC2TICK(BMM150_CONVERSION_INTERVAL));
+		ScheduleDelayed(BMM150_CONVERSION_INTERVAL);
 	}
 
 
@@ -743,15 +726,15 @@ BMM150::ioctl(struct file *filp, int cmd, unsigned long arg)
 					bool want_start = (_call_interval == 0);
 
 					/* convert hz to tick interval via microseconds */
-					unsigned ticks = USEC2TICK(1000000 / arg);
+					unsigned interval = (1000000 / arg);
 
 					/* check against maximum rate */
-					if (ticks < USEC2TICK(BMM150_CONVERSION_INTERVAL)) {
+					if (interval < BMM150_CONVERSION_INTERVAL) {
 						return -EINVAL;
 					}
 
 					/* update interval for next measurement */
-					_call_interval = ticks;
+					_call_interval = interval;
 
 					/* if we need to start the poll state machine, do it */
 					if (want_start) {
diff --git a/src/drivers/magnetometer/bmm150/bmm150.hpp b/src/drivers/magnetometer/bmm150/bmm150.hpp
index 6683a74d87..78411ae804 100644
--- a/src/drivers/magnetometer/bmm150/bmm150.hpp
+++ b/src/drivers/magnetometer/bmm150/bmm150.hpp
@@ -20,7 +20,7 @@
 
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
-#include <nuttx/wqueue.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 
 #include <nuttx/arch.h>
@@ -191,7 +191,7 @@ struct bmm150_data {
 };
 
 
-class BMM150 : public device::I2C
+class BMM150 : public device::I2C, public px4::ScheduledWorkItem
 {
 public:
 	BMM150(int bus, const char *path, enum Rotation rotation);
@@ -217,7 +217,6 @@ protected:
 	virtual int       probe();
 
 private:
-	work_s            _work{};
 
 	bool _running;
 
@@ -278,8 +277,7 @@ private:
 	int     measure(); //start measure
 	int     collect(); //get results and publish
 
-	static void     cycle_trampoline(void *arg);
-	void            cycle(); //main execution
+	void	Run() override;
 
 	/**
 	 * Read the specified number of bytes from BMM150.