diff --git a/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h b/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
index 748682156c..2c79c593db 100644
--- a/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
+++ b/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
@@ -23,8 +23,10 @@ namespace Linux {
     class LinuxRCInput;
     class LinuxRCInput_PRU;
     class LinuxRCInput_Navio;
+    class LinuxRCInput_ZYNQ;
     class LinuxRCOutput_PRU;
     class LinuxRCOutput_Navio;
+    class LinuxRCOutput_ZYNQ;
     class LinuxSemaphore;
     class LinuxScheduler;
     class LinuxUtil;
diff --git a/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h b/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
index 48e7401410..ea0a0b66d7 100644
--- a/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
+++ b/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
@@ -16,6 +16,7 @@
 #include "RCInput_Navio.h"
 #include "RCOutput_PRU.h"
 #include "RCOutput_Navio.h"
+#include "RCOutput_ZYNQ.h"
 #include "Semaphores.h"
 #include "Scheduler.h"
 #include "Util.h"
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 826070ee92..de521c6e33 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -54,6 +54,8 @@ static Empty::EmptyGPIO gpioDriver;
 static LinuxRCInput_PRU rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 static LinuxRCInput_Navio rcinDriver;
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
+static LinuxRCInput_ZYNQ rcinDriver;
 #else
 static LinuxRCInput rcinDriver;
 #endif
@@ -68,6 +70,8 @@ static LinuxRCOutput_PRU rcoutDriver;
  */
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 static LinuxRCOutput_Navio rcoutDriver;
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
+static LinuxRCOutput_ZYNQ rcoutDriver;
 #else
 static Empty::EmptyRCOutput rcoutDriver;
 #endif
diff --git a/libraries/AP_HAL_Linux/RCInput.h b/libraries/AP_HAL_Linux/RCInput.h
index ac963d5281..6945ac1c24 100644
--- a/libraries/AP_HAL_Linux/RCInput.h
+++ b/libraries/AP_HAL_Linux/RCInput.h
@@ -59,5 +59,6 @@ public:
 };
 
 #include "RCInput_PRU.h"
+#include "RCInput_ZYNQ.h"
 
 #endif // __AP_HAL_LINUX_RCINPUT_H__