diff --git a/libraries/AP_HAL_PX4/AP_HAL_PX4_Main.h b/libraries/AP_HAL_PX4/AP_HAL_PX4_Main.h
index 4115eaacbc..379f392c41 100644
--- a/libraries/AP_HAL_PX4/AP_HAL_PX4_Main.h
+++ b/libraries/AP_HAL_PX4/AP_HAL_PX4_Main.h
@@ -6,7 +6,8 @@
 #define AP_HAL_MAIN() \
     extern "C" __EXPORT int SKETCH_MAIN(int argc, char * const argv[]); \
     int SKETCH_MAIN(int argc, char * const argv[]) {	\
-	hal.init(argc, argv); \
+        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
+        hal.run(argc, argv, &callbacks); \
 	return OK; \
     }
 
diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
index 2da60e08bf..8d76684c3c 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -114,12 +114,10 @@ static void loop_overtime(void *)
     px4_ran_overtime = true;
 }
 
+static AP_HAL::HAL::Callbacks* g_callbacks;
+
 static int main_loop(int argc, char **argv)
 {
-    extern void setup(void);
-    extern void loop(void);
-
-
     hal.uartA->begin(115200);
     hal.uartB->begin(38400);
     hal.uartC->begin(57600);
@@ -140,7 +138,7 @@ static int main_loop(int argc, char **argv)
 
     schedulerInstance.hal_initialized();
 
-    setup();
+    g_callbacks->setup();
     hal.scheduler->system_initialized();
 
     perf_counter_t perf_loop = perf_alloc(PC_ELAPSED, "APM_loop");
@@ -165,7 +163,7 @@ static int main_loop(int argc, char **argv)
          */
         hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, NULL);
 
-        loop();
+        g_callbacks->loop();
 
         if (px4_ran_overtime) {
             /*
@@ -307,6 +305,13 @@ void HAL_PX4::init(int argc, char * const argv[]) const
     exit(1);
 }
 
+void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
+{
+    assert(callbacks);
+    g_callbacks = callbacks;
+    init(argc, argv);
+}
+
 const AP_HAL::HAL& AP_HAL::get_HAL() {
     static const HAL_PX4 hal_px4;
     return hal_px4;
diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.h b/libraries/AP_HAL_PX4/HAL_PX4_Class.h
index 12c68318d7..367a644b90 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.h
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.h
@@ -15,6 +15,7 @@ class HAL_PX4 : public AP_HAL::HAL {
 public:
     HAL_PX4();    
     void init(int argc, char * const argv[]) const;
+    void run(int argc, char* const argv[], Callbacks* callbacks) const override;
 };
 
 void hal_px4_set_priority(uint8_t priority);