diff --git a/libraries/AP_HAL_Linux/RCInput_AioPRU.h b/libraries/AP_HAL_Linux/RCInput_AioPRU.h
index c387f3f585..cb9e9f95c3 100644
--- a/libraries/AP_HAL_Linux/RCInput_AioPRU.h
+++ b/libraries/AP_HAL_Linux/RCInput_AioPRU.h
@@ -17,7 +17,11 @@
 
 #include "AP_HAL_Linux.h"
 
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
+#define RCIN_PRUSS_RAM_BASE   0x4a301000
+#else
 #define RCIN_PRUSS_RAM_BASE   0x4a303000
+#endif
 
 // we use 300 ring buffer entries to guarantee that a full 25 byte
 // frame of 12 bits per byte
diff --git a/libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp b/libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp
index 066601a322..6b21ce1eca 100644
--- a/libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp
@@ -50,13 +50,13 @@ void RCOutput_AioPRU::init()
 
    close(mem_fd);
 
-   // Reset PRU 1
+   // Reset PRU
    *ctrl = 0;
 
    // Load firmware
    memcpy(iram, PRUcode, sizeof(PRUcode));
 
-   // Start PRU 1
+   // Start PRU
    *ctrl |= 2;
 
    // all outputs default to 50Hz, the top level vehicle code
diff --git a/libraries/AP_HAL_Linux/RCOutput_AioPRU.h b/libraries/AP_HAL_Linux/RCOutput_AioPRU.h
index d61e178f80..2845f49724 100644
--- a/libraries/AP_HAL_Linux/RCOutput_AioPRU.h
+++ b/libraries/AP_HAL_Linux/RCOutput_AioPRU.h
@@ -11,9 +11,15 @@
 #pragma once
 
 #include "AP_HAL_Linux.h"
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
+#define RCOUT_PRUSS_RAM_BASE 0x4a300000
+#define RCOUT_PRUSS_CTRL_BASE 0x4a322000
+#define RCOUT_PRUSS_IRAM_BASE 0x4a334000
+#else
 #define RCOUT_PRUSS_RAM_BASE 0x4a302000
 #define RCOUT_PRUSS_CTRL_BASE 0x4a324000
 #define RCOUT_PRUSS_IRAM_BASE 0x4a338000
+#endif
 #define PWM_CHAN_COUNT 12
 
 namespace Linux {