diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
index b6ee023111..31a5ead2ef 100644
--- a/libraries/AP_BoardConfig/board_drivers.cpp
+++ b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -278,6 +278,11 @@ void AP_BoardConfig::board_setup()
     px4_setup_peripherals();
     px4_setup_pwm();
     px4_setup_safety_mask();
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    // init needs to be done after boardconfig is read so parameters are set
+    hal.gpio->init();
+    hal.rcin->init();
+    hal.rcout->init();
 #endif
     board_setup_uart();
     board_setup_sbus();