diff --git a/libraries/AP_HAL_PX4/RCOutput_Tap.cpp b/libraries/AP_HAL_PX4/RCOutput_Tap.cpp
new file mode 100644
index 0000000000..4557337473
--- /dev/null
+++ b/libraries/AP_HAL_PX4/RCOutput_Tap.cpp
@@ -0,0 +1,103 @@
+#include <AP_HAL/AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
+
+#include "RCOutput_Tap.h"
+
+#include <fcntl.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
+
+extern const AP_HAL::HAL &hal;
+
+using namespace PX4;
+
+void RCOutput_Tap::init()
+{
+    _perf_rcout = perf_alloc(PC_ELAPSED, "APM_rcout");
+}
+
+/*
+  set output frequency
+ */
+void RCOutput_Tap::set_freq(uint32_t chmask, uint16_t freq_hz)
+{
+}
+
+uint16_t RCOutput_Tap::get_freq(uint8_t ch)
+{
+    return 400;
+}
+
+void RCOutput_Tap::enable_ch(uint8_t ch)
+{
+    if (ch >= MAX_MOTORS) {
+        return;
+    }
+    _enabled_channels |= (1U << ch);
+    if (_period[ch] == UINT16_MAX) {
+        _period[ch] = 0;
+    }
+}
+
+void RCOutput_Tap::disable_ch(uint8_t ch)
+{
+    if (ch >= MAX_MOTORS) {
+        return;
+    }
+
+    _enabled_channels &= ~(1U << ch);
+    _period[ch] = UINT16_MAX;
+}
+
+void RCOutput_Tap::write(uint8_t ch, uint16_t period_us)
+{
+    if (ch >= MAX_MOTORS) {
+        return;
+    }
+    if (!(_enabled_channels & (1U << ch))) {
+        // not enabled
+        return;
+    }
+
+    _period[ch] = period_us;
+}
+
+uint16_t RCOutput_Tap::read(uint8_t ch)
+{
+    if (ch >= MAX_MOTORS) {
+        return 0;
+    }
+    return _period[ch];
+}
+
+void RCOutput_Tap::read(uint16_t *period_us, uint8_t len)
+{
+    for (uint8_t i = 0; i < len; i++) {
+        period_us[i] = read(i);
+    }
+}
+
+void RCOutput_Tap::_send_outputs(void)
+{
+    uint32_t __attribute__((unused)) now = AP_HAL::micros();
+
+    perf_begin(_perf_rcout);
+
+    perf_end(_perf_rcout);
+}
+
+void RCOutput_Tap::cork()
+{
+    _corking = true;
+}
+
+void RCOutput_Tap::push()
+{
+    _corking = false;
+    _send_outputs();
+}
+
+#endif
diff --git a/libraries/AP_HAL_PX4/RCOutput_Tap.h b/libraries/AP_HAL_PX4/RCOutput_Tap.h
new file mode 100644
index 0000000000..b96e203398
--- /dev/null
+++ b/libraries/AP_HAL_PX4/RCOutput_Tap.h
@@ -0,0 +1,43 @@
+#pragma once
+
+#include "AP_HAL_PX4.h"
+#include <systemlib/perf_counter.h>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/actuator_outputs.h>
+
+namespace PX4 {
+
+class RCOutput_Tap : public AP_HAL::RCOutput {
+public:
+    void init() override;
+    void set_freq(uint32_t chmask, uint16_t freq_hz) override;
+    uint16_t get_freq(uint8_t ch) override;
+    void enable_ch(uint8_t ch) override;
+    void disable_ch(uint8_t ch) override;
+    void write(uint8_t ch, uint16_t period_us) override;
+    uint16_t read(uint8_t ch) override;
+    void read(uint16_t *period_us, uint8_t len) override;
+
+    void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
+        _esc_pwm_min = min_pwm;
+        _esc_pwm_max = max_pwm;
+    }
+
+    void cork() override;
+    void push() override;
+
+private:
+    static const uint8_t MAX_MOTORS = 4;
+
+    void _send_outputs(void);
+
+    uint8_t _enabled_channels = 0;
+    bool _corking = false;
+
+    uint16_t _period[MAX_MOTORS];
+    uint16_t _esc_pwm_min = 0;
+    uint16_t _esc_pwm_max = 0;
+    perf_counter_t _perf_rcout;
+};
+
+}