diff --git a/libraries/AP_HAL_PX4/AnalogIn.cpp b/libraries/AP_HAL_PX4/AnalogIn.cpp
index 5f2789979a..340f7f95fb 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.cpp
+++ b/libraries/AP_HAL_PX4/AnalogIn.cpp
@@ -198,7 +198,7 @@ PX4AnalogIn::PX4AnalogIn() :
     _power_flags(0)
 {}
 
-void PX4AnalogIn::init(void* machtnichts)
+void PX4AnalogIn::init()
 {
 	_adc_fd = open(ADC0_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
     if (_adc_fd == -1) {
diff --git a/libraries/AP_HAL_PX4/AnalogIn.h b/libraries/AP_HAL_PX4/AnalogIn.h
index f452364e0c..657c2707c8 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.h
+++ b/libraries/AP_HAL_PX4/AnalogIn.h
@@ -55,7 +55,7 @@ private:
 class PX4::PX4AnalogIn : public AP_HAL::AnalogIn {
 public:
     PX4AnalogIn();
-    void init(void* implspecific);
+    void init();
     AP_HAL::AnalogSource* channel(int16_t pin);
     void _timer_tick(void);
     float board_voltage(void) { return _board_voltage; }
diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
index c928eaffda..da2a4a9d42 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -123,10 +123,10 @@ static int main_loop(int argc, char **argv)
     hal.uartC->begin(57600);
     hal.uartD->begin(57600);
     hal.uartE->begin(57600);
-    hal.scheduler->init(NULL);
-    hal.rcin->init(NULL);
-    hal.rcout->init(NULL);
-    hal.analogin->init(NULL);
+    hal.scheduler->init();
+    hal.rcin->init();
+    hal.rcout->init();
+    hal.analogin->init();
     hal.gpio->init();
 
 
diff --git a/libraries/AP_HAL_PX4/RCInput.cpp b/libraries/AP_HAL_PX4/RCInput.cpp
index 9212a6c187..d1e3078262 100644
--- a/libraries/AP_HAL_PX4/RCInput.cpp
+++ b/libraries/AP_HAL_PX4/RCInput.cpp
@@ -12,7 +12,7 @@ using namespace PX4;
 
 extern const AP_HAL::HAL& hal;
 
-void PX4RCInput::init(void* unused)
+void PX4RCInput::init()
 {
 	_perf_rcin = perf_alloc(PC_ELAPSED, "APM_rcin");
 	_rc_sub = orb_subscribe(ORB_ID(input_rc));
diff --git a/libraries/AP_HAL_PX4/RCInput.h b/libraries/AP_HAL_PX4/RCInput.h
index ebfeac073c..7cdd0301a8 100644
--- a/libraries/AP_HAL_PX4/RCInput.h
+++ b/libraries/AP_HAL_PX4/RCInput.h
@@ -14,7 +14,7 @@
 
 class PX4::PX4RCInput : public AP_HAL::RCInput {
 public:
-    void init(void* machtnichts);
+    void init();
     bool new_input();
     uint8_t num_channels();
     uint16_t read(uint8_t ch);
diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index 9a5be9b6e6..590ec4179a 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -18,7 +18,7 @@ extern const AP_HAL::HAL& hal;
 
 using namespace PX4;
 
-void PX4RCOutput::init(void* unused) 
+void PX4RCOutput::init()
 {
     _perf_rcout = perf_alloc(PC_ELAPSED, "APM_rcout");
     _pwm_fd = open(PWM_OUTPUT0_DEVICE_PATH, O_RDWR);
diff --git a/libraries/AP_HAL_PX4/RCOutput.h b/libraries/AP_HAL_PX4/RCOutput.h
index 38d7f51deb..2ec97d97f8 100644
--- a/libraries/AP_HAL_PX4/RCOutput.h
+++ b/libraries/AP_HAL_PX4/RCOutput.h
@@ -12,7 +12,7 @@
 class PX4::PX4RCOutput : public AP_HAL::RCOutput 
 {
 public:
-    void     init(void* machtnichts);
+    void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
     void     enable_ch(uint8_t ch);
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index d02bcd5edd..2aee553253 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -37,7 +37,7 @@ PX4Scheduler::PX4Scheduler() :
 	_perf_delay(perf_alloc(PC_ELAPSED, "APM_delay"))
 {}
 
-void PX4Scheduler::init(void *unused) 
+void PX4Scheduler::init()
 {
     _main_task_pid = getpid();
 
diff --git a/libraries/AP_HAL_PX4/Scheduler.h b/libraries/AP_HAL_PX4/Scheduler.h
index 61ffa60e4c..b39a74b391 100644
--- a/libraries/AP_HAL_PX4/Scheduler.h
+++ b/libraries/AP_HAL_PX4/Scheduler.h
@@ -45,7 +45,7 @@ public:
     PX4Scheduler();
     /* AP_HAL::Scheduler methods */
 
-    void     init(void *unused);
+    void     init();
     void     delay(uint16_t ms);
     void     delay_microseconds(uint16_t us);
     void     delay_microseconds_boost(uint16_t us);
diff --git a/libraries/AP_HAL_PX4/Storage.h b/libraries/AP_HAL_PX4/Storage.h
index 35051e8d49..dc3da51226 100644
--- a/libraries/AP_HAL_PX4/Storage.h
+++ b/libraries/AP_HAL_PX4/Storage.h
@@ -17,7 +17,7 @@ class PX4::PX4Storage : public AP_HAL::Storage {
 public:
     PX4Storage();
 
-    void init(void* machtnichts) {}
+    void init() {}
     void read_block(void *dst, uint16_t src, size_t n);
     void write_block(uint16_t dst, const void* src, size_t n);