diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index ece08c982d..d744c3bd0d 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -141,14 +141,9 @@ static RCInput_AioPRU rcinDriver;
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
       CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
 static RCInput_RPI rcinDriver;
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
 static RCInput_ZYNQ rcinDriver;
-#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
-#if OCPOC_DEFAULT_RCIN_SBUS
-static RCInput_SBUS rcinDriver;
-#else
-static RCInput_ZYNQ rcinDriver;
-#endif
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
 static RCInput_UDP  rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
diff --git a/libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp b/libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp
index e309c2c307..983b0e8888 100644
--- a/libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp
@@ -17,7 +17,7 @@
 #include "GPIO.h"
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
-#define RCIN_ZYNQ_PULSE_INPUT_BASE  0x43c70000
+#define RCIN_ZYNQ_PULSE_INPUT_BASE  0x43ca0000
 #else
 #define RCIN_ZYNQ_PULSE_INPUT_BASE  0x43c10000
 #endif
@@ -49,7 +49,7 @@ void RCInput_ZYNQ::_timer_tick()
     // all F's means no samples available
     while((v = *pulse_input) != 0xffffffff) {
         // Hi bit indicates pin state, low bits denote pulse length
-        if(!(v & 0x80000000))
+        if(v & 0x80000000)
             _s0_time = (v & 0x7fffffff)/TICK_PER_US;
         else
             _process_rc_pulse(_s0_time, (v & 0x7fffffff)/TICK_PER_US);