diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index 6795747b1c..242d50bf60 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -568,7 +568,7 @@ void PX4RCOutput::push()
     }
 }
 
-void PX4RCOutput::_timer_tick(void)
+void PX4RCOutput::timer_tick(void)
 {
     if (_output_mode != MODE_PWM_ONESHOT && !_corking) {
         /* in oneshot mode the timer does nothing as the outputs are
diff --git a/libraries/AP_HAL_PX4/RCOutput.h b/libraries/AP_HAL_PX4/RCOutput.h
index 5c6eddbf09..717da8e88a 100644
--- a/libraries/AP_HAL_PX4/RCOutput.h
+++ b/libraries/AP_HAL_PX4/RCOutput.h
@@ -33,8 +33,8 @@ public:
     void push();
 
     void set_output_mode(enum output_mode mode) override;
-    
-    void _timer_tick(void);
+
+    void timer_tick(void) override;
     bool enable_sbus_out(uint16_t rate_hz) override;
 
 private:
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index 3d386f3265..3979604bfc 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -280,7 +280,7 @@ void *PX4Scheduler::_timer_thread(void *arg)
         perf_end(sched->_perf_timers);
 
         // process any pending RC output requests
-        ((PX4RCOutput *)hal.rcout)->_timer_tick();
+        hal.rcout->timer_tick();
 
         // process any pending RC input requests
         ((PX4RCInput *)hal.rcin)->_timer_tick();