diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index a4b8bba659..13a86003ff 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -163,6 +163,9 @@ static RCInput_SoloLink rcinDriver;
 static RCInput_Navio2 rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
 static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL};
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
+// this is needed to allow for RC input using SERIALn_PROTOCOL=23
+static RCInput_RCProtocol rcinDriver{"/dev/null", NULL};
 #else
 static RCInput rcinDriver;
 #endif
diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
index 3eef99ab8a..321c5bf33a 100644
--- a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
@@ -27,7 +27,8 @@
 #include <GCS_MAVLink/GCS.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h
index 9211a4998b..d15a3417fe 100644
--- a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h
+++ b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h
@@ -24,7 +24,8 @@
 #include <stdarg.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV
 
 namespace Linux {