diff --git a/libraries/AP_HAL_ChibiOS/CANClock.cpp b/libraries/AP_HAL_ChibiOS/CANClock.cpp
index 8b7c547aec..4507e827f9 100644
--- a/libraries/AP_HAL_ChibiOS/CANClock.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANClock.cpp
@@ -348,7 +348,7 @@ void setUtcSyncParams(const UtcSyncParams& params)
 
 } // namespace clock
 
-SystemClock& SystemClock::instance()
+SystemClock& SystemClock::get_singleton()
 {
     static union SystemClockStorage {
         uavcan::uint8_t buffer[sizeof(SystemClock)];
diff --git a/libraries/AP_HAL_ChibiOS/CANClock.h b/libraries/AP_HAL_ChibiOS/CANClock.h
index 3e20f41b6e..f5fa32c985 100644
--- a/libraries/AP_HAL_ChibiOS/CANClock.h
+++ b/libraries/AP_HAL_ChibiOS/CANClock.h
@@ -158,7 +158,7 @@ public:
      * Calls clock::init() as needed.
      * This function is thread safe.
      */
-    static SystemClock& instance();
+    static SystemClock& get_singleton();
 };
 
 }
diff --git a/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp b/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
index 2dac476a1f..8e394f58b9 100644
--- a/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
@@ -26,7 +26,7 @@ extern const AP_HAL::HAL& hal;
 
 SLCANRouter &slcan_router()
 {
-    return *SLCANRouter::instance();
+    return *SLCANRouter::get_singleton();
 }
 
 void SLCANRouter::init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event)
@@ -38,7 +38,7 @@ void SLCANRouter::init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* upd
 
 void SLCANRouter::run()
 {
-    _port = AP_SerialManager::get_instance()->get_serial_by_id(AP::can().get_slcan_serial());
+    _port = AP_SerialManager::get_singleton()->get_serial_by_id(AP::can().get_slcan_serial());
     if (_slcan_if.init(921600, SLCAN::CAN::OperatingMode::NormalMode, _port) < 0) {
         return;
     }
diff --git a/libraries/AP_HAL_ChibiOS/CANSerialRouter.h b/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
index 6ee2622c8f..66c1541ecc 100644
--- a/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
+++ b/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
@@ -67,7 +67,7 @@ public:
     void slcan2can_router_trampoline(void);
     void can2slcan_router_trampoline(void);
     void run(void);
-    static SLCANRouter* instance()
+    static SLCANRouter* get_singleton()
     {
         if (_singleton == nullptr) {
             _singleton = new SLCANRouter;
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index c85d97f7b8..fc5cfe9622 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -66,7 +66,7 @@ bool RCInput::new_input()
 #if HAL_RCINPUT_WITH_AP_RADIO
     if (!_radio_init) {
         _radio_init = true;
-        radio = AP_Radio::instance();
+        radio = AP_Radio::get_singleton();
         if (radio) {
             radio->init();
         }
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 8efa1199e8..8346afd725 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -1445,7 +1445,7 @@ void RCOutput::safety_update(void)
     }
     safety_update_ms = now;
 
-    AP_BoardConfig *boardconfig = AP_BoardConfig::get_instance();
+    AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton();
 
     if (boardconfig) {
         // remember mask of channels to allow with safety on
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
index 439526137e..72bd169d61 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
@@ -29,11 +29,11 @@ extern const AP_HAL::HAL& hal;
 #endif
 
 // singleton instance
-SoftSigReaderInt *SoftSigReaderInt::_instance;
+SoftSigReaderInt *SoftSigReaderInt::_singleton;
 
 SoftSigReaderInt::SoftSigReaderInt()
 {
-    _instance = this;
+    _singleton = this;
 }
 
 eicuchannel_t SoftSigReaderInt::get_pair_channel(eicuchannel_t channel)
@@ -97,7 +97,7 @@ void SoftSigReaderInt::_irq_handler(EICUDriver *eicup, eicuchannel_t aux_channel
     pulse.w0 = eicup->tim->CCR[channel];
     pulse.w1 = eicup->tim->CCR[aux_channel];
     
-    _instance->sigbuf.push(pulse);
+    _singleton->sigbuf.push(pulse);
 
     //check for missed interrupt 
     uint32_t mask = (STM32_TIM_SR_CC1OF << channel) | (STM32_TIM_SR_CC1OF << aux_channel);
@@ -106,7 +106,7 @@ void SoftSigReaderInt::_irq_handler(EICUDriver *eicup, eicuchannel_t aux_channel
         //try to reset RCProtocol parser by returning invalid value (i.e. 0 width pulse)
         pulse.w0 = 0;
         pulse.w1 = 0;
-        _instance->sigbuf.push(pulse);
+        _singleton->sigbuf.push(pulse);
         //reset overcapture mask
         eicup->tim->SR &= ~mask;
     }
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
index 1293fd0a49..9b344f9a9a 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
@@ -35,16 +35,16 @@ public:
     SoftSigReaderInt &operator=(const SoftSigReaderInt&) = delete;
 
     // get singleton
-    static SoftSigReaderInt *get_instance(void)
+    static SoftSigReaderInt *get_singleton(void)
     {
-        return _instance;
+        return _singleton;
     }
 
     void init(EICUDriver* icu_drv, eicuchannel_t chan);
     bool read(uint32_t &widths0, uint32_t &widths1);
 private:
     // singleton
-    static SoftSigReaderInt *_instance;
+    static SoftSigReaderInt *_singleton;
 
     static void _irq_handler(EICUDriver *eicup, eicuchannel_t channel);