diff --git a/firmware/controllers/system/timer/scheduler.h b/firmware/controllers/system/timer/scheduler.h
index caef678b95..f730a52229 100644
--- a/firmware/controllers/system/timer/scheduler.h
+++ b/firmware/controllers/system/timer/scheduler.h
@@ -85,7 +85,6 @@ struct ExecutorInterface {
 	 */
 	virtual void scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) = 0;
 	virtual void scheduleByTimestampNt(const char *msg, scheduling_s *scheduling, efitick_t timeNt, action_s action) = 0;
-	virtual void scheduleForLater(const char *msg, scheduling_s *scheduling, int delayUs, action_s action) = 0;
 	virtual void cancel(scheduling_s* scheduling) = 0;
 };
 
diff --git a/firmware/controllers/system/timer/single_timer_executor.cpp b/firmware/controllers/system/timer/single_timer_executor.cpp
index adb39f7efa..2f7aac187a 100644
--- a/firmware/controllers/system/timer/single_timer_executor.cpp
+++ b/firmware/controllers/system/timer/single_timer_executor.cpp
@@ -45,10 +45,6 @@ SingleTimerExecutor::SingleTimerExecutor()
 {
 }
 
-void SingleTimerExecutor::scheduleForLater(const char *msg, scheduling_s *scheduling, int delayUs, action_s action) {
-	scheduleByTimestamp(msg, scheduling, getTimeNowUs() + delayUs, action);
-}
-
 /**
  * @brief Schedule an event at specific delay after now
  *
diff --git a/firmware/controllers/system/timer/single_timer_executor.h b/firmware/controllers/system/timer/single_timer_executor.h
index a82e18bb2b..06b23d0595 100644
--- a/firmware/controllers/system/timer/single_timer_executor.h
+++ b/firmware/controllers/system/timer/single_timer_executor.h
@@ -15,7 +15,6 @@ public:
 	SingleTimerExecutor();
 	void scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) override;
 	void scheduleByTimestampNt(const char *msg, scheduling_s *scheduling, efitick_t timeNt, action_s action) override;
-	void scheduleForLater(const char *msg, scheduling_s *scheduling, int delayUs, action_s action) override;
 	void cancel(scheduling_s* scheduling) override;
 
 	void onTimerCallback();
diff --git a/simulator/simulator/system/signal_executor_sleep.cpp b/simulator/simulator/system/signal_executor_sleep.cpp
index f9911e57da..03defe476c 100644
--- a/simulator/simulator/system/signal_executor_sleep.cpp
+++ b/simulator/simulator/system/signal_executor_sleep.cpp
@@ -35,8 +35,10 @@ struct CallbackContext
 	bool shouldFree = false;
 };
 
-void SleepExecutor::scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) {
-	scheduleForLater(msg, scheduling, timeUs - getTimeNowUs(), action);
+static void doScheduleForLater(scheduling_s *scheduling, int delayUs, action_s action);
+
+void SleepExecutor::scheduleByTimestamp(const char* /*msg*/, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) {
+	doScheduleForLater(scheduling, timeUs - getTimeNowUs(), action);
 }
 
 void SleepExecutor::scheduleByTimestampNt(const char *msg, scheduling_s* scheduling, efitick_t timeNt, action_s action) {
@@ -90,10 +92,6 @@ static void doScheduleForLater(scheduling_s *scheduling, int delayUs, action_s a
 	chVTSetI(&scheduling->timer, delaySt, (vtfunc_t)timerCallback, ctx);
 }
 
-void SleepExecutor::scheduleForLater(const char *msg, scheduling_s *scheduling, int delayUs, action_s action) {
-	doScheduleForLater(scheduling, delayUs, action);
-}
-
 void SleepExecutor::cancel(scheduling_s* s) {
 	chibios_rt::CriticalSectionLocker csl;
 
diff --git a/simulator/simulator/system/signal_executor_sleep.h b/simulator/simulator/system/signal_executor_sleep.h
index 095c71626e..5cb2e04454 100644
--- a/simulator/simulator/system/signal_executor_sleep.h
+++ b/simulator/simulator/system/signal_executor_sleep.h
@@ -13,6 +13,5 @@ class SleepExecutor : public ExecutorInterface {
 public:
 	void scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) override;
 	void scheduleByTimestampNt(const char *msg, scheduling_s *scheduling, efitick_t timeNt, action_s action) override;
-	void scheduleForLater(const char *msg, scheduling_s *scheduling, int delayUs, action_s action) override;
 	void cancel(scheduling_s* s) override;
 };
diff --git a/unit_tests/global_execution_queue.cpp b/unit_tests/global_execution_queue.cpp
index dd3787a81a..c9b721782e 100644
--- a/unit_tests/global_execution_queue.cpp
+++ b/unit_tests/global_execution_queue.cpp
@@ -15,19 +15,6 @@ TestExecutor::~TestExecutor() {
 	clear();
 }
 
-void TestExecutor::scheduleForLater(const char *msg, scheduling_s *scheduling, int delayUs, action_s action) {
-	if (debugSignalExecutor) {
-		printf("scheduleTask %d\r\n", delayUs);
-	}
-
-	if (m_mockExecutor) {
-		m_mockExecutor->scheduleForLater(msg, scheduling, delayUs, action);
-		return;
-	}
-
-	scheduleByTimestamp(msg, scheduling, getTimeNowUs() + delayUs, action);
-}
-
 int TestExecutor::executeAll(efitick_t now) {
 	return schedulingQueue.executeAll(now);
 }
diff --git a/unit_tests/global_execution_queue.h b/unit_tests/global_execution_queue.h
index 7962fcea9b..40e0d6341e 100644
--- a/unit_tests/global_execution_queue.h
+++ b/unit_tests/global_execution_queue.h
@@ -16,7 +16,6 @@ public:
 
 	void scheduleByTimestamp(const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action) override;
 	void scheduleByTimestampNt(const char *msg, scheduling_s *scheduling, efitick_t timeNt, action_s action) override;
-	void scheduleForLater(const char *msg, scheduling_s *scheduling, int delayUs, action_s action) override;
 	void cancel(scheduling_s* scheduling) override;
 
 	void clear();
diff --git a/unit_tests/mocks.h b/unit_tests/mocks.h
index 4c2c925411..c14fe370b7 100644
--- a/unit_tests/mocks.h
+++ b/unit_tests/mocks.h
@@ -81,7 +81,6 @@ public:
 
 	MOCK_METHOD(void, scheduleByTimestamp, (const char *msg, scheduling_s *scheduling, efitimeus_t timeUs, action_s action), (override));
 	MOCK_METHOD(void, scheduleByTimestampNt, (const char *msg, scheduling_s *scheduling, efitick_t timeNt, action_s action), (override));
-	MOCK_METHOD(void, scheduleForLater, (const char *msg, scheduling_s *scheduling, int delayUs, action_s action), (override));
 	MOCK_METHOD(void, cancel, (scheduling_s*), (override));
 };