diff --git a/libraries/AP_HAL_Linux/AP_HAL_Linux_Main.h b/libraries/AP_HAL_Linux/AP_HAL_Linux_Main.h
index 5a5fd23c47..140fa12eb2 100644
--- a/libraries/AP_HAL_Linux/AP_HAL_Linux_Main.h
+++ b/libraries/AP_HAL_Linux/AP_HAL_Linux_Main.h
@@ -6,11 +6,9 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #define AP_HAL_MAIN() extern "C" {\
 int main (int argc, char * const argv[]) {        \
-	hal.init(argc, argv);			\
-        hal.scheduler->system_initialized(); \
-        setup();\
-        for(;;) loop();\
-        return 0;\
+        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
+        hal.run(argc, argv, &callbacks); \
+        return 0; \
     }\
     }
 #endif // HAL_BOARD_LINUX
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 1e1565ef46..df903b8cd6 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -1,6 +1,8 @@
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
+#include <assert.h>
+
 #include "HAL_Linux_Class.h"
 #include "AP_HAL_Linux_Private.h"
 
@@ -236,6 +238,23 @@ void HAL_Linux::init(int argc,char* const argv[]) const
     utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
 }
 
+void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
+{
+    assert(callbacks);
+
+    init(argc, argv);
+
+    // NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
+    // deadlock, and infinite loop in setup()") for details about the
+    // order of scheduler initialize and setup on Linux.
+    scheduler->system_initialized();
+    callbacks->setup();
+
+    for (;;) {
+        callbacks->loop();
+    }
+}
+
 const AP_HAL::HAL& AP_HAL::get_HAL() {
     static const HAL_Linux hal;
     return hal;
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.h b/libraries/AP_HAL_Linux/HAL_Linux_Class.h
index d783acfdeb..4050e30b7e 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.h
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.h
@@ -10,6 +10,7 @@ class HAL_Linux : public AP_HAL::HAL {
 public:
     HAL_Linux();
     void init(int argc, char * const * argv) const;
+    void run(int argc, char* const* argv, Callbacks* callbacks) const override;
 };
 
 extern const HAL_Linux AP_HAL_Linux;