diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index ab665d62d3..41926347c2 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -136,9 +136,10 @@ static Empty::GPIO gpioDriver;
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
 static RCInput_PRU rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
 static RCInput_AioPRU rcinDriver;
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_115200("/dev/ttyO4")};
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
diff --git a/libraries/AP_HAL_Linux/RCInput_115200.cpp b/libraries/AP_HAL_Linux/RCInput_115200.cpp
index 7fb225023d..00159eda97 100644
--- a/libraries/AP_HAL_Linux/RCInput_115200.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_115200.cpp
@@ -22,7 +22,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 #include "RCInput_115200.h"
 #include <stdio.h>
 #include <fcntl.h>
diff --git a/libraries/AP_HAL_Linux/RCInput_115200.h b/libraries/AP_HAL_Linux/RCInput_115200.h
index d2335b5bc5..60d96e4f14 100644
--- a/libraries/AP_HAL_Linux/RCInput_115200.h
+++ b/libraries/AP_HAL_Linux/RCInput_115200.h
@@ -16,7 +16,8 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 
 #include "RCInput.h"
 
diff --git a/libraries/AP_HAL_Linux/RCInput_Multi.cpp b/libraries/AP_HAL_Linux/RCInput_Multi.cpp
index 6f22e97e83..2ebcfc42a0 100644
--- a/libraries/AP_HAL_Linux/RCInput_Multi.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_Multi.cpp
@@ -18,7 +18,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 #include "RCInput_Multi.h"
 
 extern const AP_HAL::HAL& hal;
diff --git a/libraries/AP_HAL_Linux/RCInput_Multi.h b/libraries/AP_HAL_Linux/RCInput_Multi.h
index 2e183bb85f..c2fabf0509 100644
--- a/libraries/AP_HAL_Linux/RCInput_Multi.h
+++ b/libraries/AP_HAL_Linux/RCInput_Multi.h
@@ -16,7 +16,8 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
 
 #include "RCInput.h"
 #include <stdarg.h>