diff --git a/libraries/AP_HAL_Linux/RCOutput_PRU.cpp b/libraries/AP_HAL_Linux/RCOutput_PRU.cpp
index 51ee34608c..30f476a302 100644
--- a/libraries/AP_HAL_Linux/RCOutput_PRU.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_PRU.cpp
@@ -68,7 +68,12 @@ void RCOutput_PRU::disable_ch(uint8_t ch)
 
 void RCOutput_PRU::write(uint8_t ch, uint16_t period_us)
 {
-    sharedMem_cmd->periodhi[chan_pru_map[ch]][1] = TICK_PER_US*period_us;
+    if (corked) {
+        pending[ch] = period_us;
+        pending_mask |= (1U << ch);
+    } else {
+        sharedMem_cmd->periodhi[chan_pru_map[ch]][1] = TICK_PER_US*period_us;
+    }
 }
 
 uint16_t RCOutput_PRU::read(uint8_t ch)
@@ -86,3 +91,19 @@ void RCOutput_PRU::read(uint16_t* period_us, uint8_t len)
         period_us[i] = sharedMem_cmd->hilo_read[chan_pru_map[i]][1]/TICK_PER_US;
     }
 }
+
+void RCOutput_PRU::cork(void)
+{
+    corked = true;
+}
+
+void RCOutput_PRU::push(void)
+{
+    corked = false;
+    for (uint8_t i=0; i<ARRAY_SIZE(pending); i++) {
+        if (pending_mask & (1U << i)) {
+            write(i, pending[i]);
+        }
+    }
+    pending_mask = 0;
+}
diff --git a/libraries/AP_HAL_Linux/RCOutput_PRU.h b/libraries/AP_HAL_Linux/RCOutput_PRU.h
index 3115787db7..a24ee4a473 100644
--- a/libraries/AP_HAL_Linux/RCOutput_PRU.h
+++ b/libraries/AP_HAL_Linux/RCOutput_PRU.h
@@ -24,6 +24,8 @@ class RCOutput_PRU : public AP_HAL::RCOutput {
     void     write(uint8_t ch, uint16_t period_us);
     uint16_t read(uint8_t ch);
     void     read(uint16_t* period_us, uint8_t len);
+    void     cork(void) override;
+    void     push(void) override;
 
 private:
     static const int TICK_PER_US=200;
@@ -38,6 +40,8 @@ private:
     };
     volatile struct pwm_cmd *sharedMem_cmd;
 
+    uint16_t pending[MAX_PWMS];
+    bool corked;
+    uint32_t pending_mask;    
 };
-
 }
diff --git a/libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp b/libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp
index 22b0684e5b..f68e7d3ee9 100644
--- a/libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp
@@ -76,7 +76,12 @@ void RCOutput_ZYNQ::disable_ch(uint8_t ch)
 
 void RCOutput_ZYNQ::write(uint8_t ch, uint16_t period_us)
 {
-    sharedMem_cmd->periodhi[ch].hi = TICK_PER_US*period_us;
+    if (corked) {
+        pending[ch] = period_us;
+        pending_mask |= (1U << ch);
+    } else {
+        sharedMem_cmd->periodhi[ch].hi = TICK_PER_US*period_us;
+    }
 }
 
 uint16_t RCOutput_ZYNQ::read(uint8_t ch)
@@ -94,3 +99,19 @@ void RCOutput_ZYNQ::read(uint16_t* period_us, uint8_t len)
         period_us[i] = sharedMem_cmd->periodhi[i].hi/TICK_PER_US;
     }
 }
+
+void RCOutput_ZYNQ::cork(void)
+{
+    corked = true;
+}
+
+void RCOutput_ZYNQ::push(void)
+{
+    corked = false;
+    for (uint8_t i=0; i<MAX_ZYNQ_PWMS; i++) {
+        if (pending_mask & (1U << i)) {
+            write(i, pending[i]);
+        }
+    }
+    pending_mask = 0;
+}
diff --git a/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h b/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h
index 528e1c2ff3..e38a4ecdf0 100644
--- a/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h
+++ b/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h
@@ -16,6 +16,8 @@ public:
     void     write(uint8_t ch, uint16_t period_us);
     uint16_t read(uint8_t ch);
     void     read(uint16_t* period_us, uint8_t len);
+    void     cork(void) override;
+    void     push(void) override;
 
 private:
     static const int TICK_PER_US=100;
@@ -30,6 +32,10 @@ private:
         struct s_period_hi periodhi[MAX_ZYNQ_PWMS];
     };
     volatile struct pwm_cmd *sharedMem_cmd;
+
+    uint16_t pending[MAX_ZYNQ_PWMS];
+    bool corked;
+    uint32_t pending_mask;
 };
 
 }
diff --git a/libraries/AP_HAL_Linux/RCOutput_qflight.cpp b/libraries/AP_HAL_Linux/RCOutput_qflight.cpp
index d4047503b6..8b92bb84bb 100644
--- a/libraries/AP_HAL_Linux/RCOutput_qflight.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_qflight.cpp
@@ -76,7 +76,9 @@ void RCOutput_QFLIGHT::write(uint8_t ch, uint16_t period_us)
         return;
     }
     period[ch] = period_us;
-    need_write = true;
+    if (!corked) {
+        need_write = true;
+    }
 }
 
 uint16_t RCOutput_QFLIGHT::read(uint8_t ch)
@@ -172,5 +174,16 @@ void RCOutput_QFLIGHT::check_rc_in(void)
     }
 }
 
+void RCOutput_QFLIGHT::cork(void)
+{
+    corked = true;
+}
+
+void RCOutput_QFLIGHT::push(void)
+{
+    corked = false;
+    need_write = true;
+}
+
 #endif // CONFIG_HAL_BOARD_SUBTYPE
 
diff --git a/libraries/AP_HAL_Linux/RCOutput_qflight.h b/libraries/AP_HAL_Linux/RCOutput_qflight.h
index fe0e1253fd..1da74a8812 100644
--- a/libraries/AP_HAL_Linux/RCOutput_qflight.h
+++ b/libraries/AP_HAL_Linux/RCOutput_qflight.h
@@ -18,6 +18,8 @@ public:
     uint16_t read(uint8_t ch);
     void read(uint16_t *period_us, uint8_t len);
     void set_device_path(const char *device);
+    void cork(void) override;
+    void push(void) override;
 
 private:
     const char *device = nullptr;
@@ -44,6 +46,7 @@ private:
         uint8_t bytes[19];
     } rcu;
     uint8_t nrcin_bytes;
+    bool corked;
 };
 
 }