diff --git a/libraries/AP_HAL_ESP32/system.cpp b/libraries/AP_HAL_ESP32/system.cpp
index 20f07a0147..4ee607c561 100644
--- a/libraries/AP_HAL_ESP32/system.cpp
+++ b/libraries/AP_HAL_ESP32/system.cpp
@@ -56,8 +56,14 @@ uint64_t millis64()
 
 } // namespace AP_HAL
 
+static HAL_ESP32 hal_esp32;
+
 const AP_HAL::HAL& AP_HAL::get_HAL()
 {
-    static const HAL_ESP32 hal;
-    return hal;
+    return hal_esp32;
+}
+
+AP_HAL::HAL& AP_HAL::get_HAL_mutable()
+{
+    return hal_esp32;
 }