diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index cf66fdfff7..269fdb538a 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -31,6 +31,7 @@
 #include "RCInput_115200.h"
 #include "RCInput_Multi.h"
 #include "RCInput_ZYNQ.h"
+#include "RCInput_RCProtocol.h"
 #include "RCOutput_AioPRU.h"
 #include "RCOutput_Bebop.h"
 #include "RCOutput_Disco.h"
@@ -150,7 +151,7 @@ static RCInput_ZYNQ rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
 static RCInput_UDP  rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
-static RCInput_Multi rcinDriver{3, new RCInput_SBUS, new RCInput_115200("/dev/uart-sumd"), new RCInput_UDP()};
+static RCInput_Multi rcinDriver{2, new RCInput_RCProtocol("/dev/uart-sbus", "/dev/uart-sumd"), new RCInput_UDP()};
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
 static RCInput_SoloLink rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
new file mode 100644
index 0000000000..2219c2e07d
--- /dev/null
+++ b/libraries/AP_HAL_Linux/RCInput_RCProtocol.cpp
@@ -0,0 +1,157 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  this is a driver for multiple RCInput methods on one board
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+#include <asm/termbits.h>
+#include "RCInput_RCProtocol.h"
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+
+extern const AP_HAL::HAL& hal;
+
+using namespace Linux;
+
+/*
+  open a SBUS UART
+ */
+int RCInput_RCProtocol::open_sbus(const char *path)
+{
+    int fd = open(path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
+    if (fd == -1) {
+        return -1;
+    }
+    struct termios2 tio {};
+
+    if (ioctl(fd, TCGETS2, &tio) != 0) {
+        close(fd);
+        fd = -1;
+        return -1;
+    }
+    tio.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR
+                     | IGNCR | ICRNL | IXON);
+    tio.c_iflag |= (INPCK | IGNPAR);
+    tio.c_oflag &= ~OPOST;
+    tio.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+    tio.c_cflag &= ~(CSIZE | CRTSCTS | PARODD | CBAUD);
+    // use BOTHER to specify speed directly in c_[io]speed member
+    tio.c_cflag |= (CS8 | CSTOPB | CLOCAL | PARENB | BOTHER | CREAD);
+    tio.c_ispeed = 100000;
+    tio.c_ospeed = 100000;
+    if (ioctl(fd, TCSETS2, &tio) != 0) {
+        close(fd);
+        fd = -1;
+        return -1;
+    }
+
+    return fd;
+}
+
+/*
+  open a 115200 UART
+ */
+int RCInput_RCProtocol::open_115200(const char *path)
+{
+    int fd = open(path, O_RDWR | O_NONBLOCK | O_CLOEXEC);
+    if (fd == -1) {
+        return -1;
+    }
+    struct termios2 tio {};
+
+    if (ioctl(fd, TCGETS2, &tio) != 0) {
+        close(fd);
+        fd = -1;
+        return -1;
+    }
+
+    tio.c_cflag &= ~(PARENB|CSTOPB|CSIZE);
+    tio.c_cflag |= CS8 | B115200;
+
+    tio.c_lflag &= ~(ICANON|ECHO|ECHOE|ISIG);
+    tio.c_iflag &= ~(IXON|IXOFF|IXANY);
+    tio.c_oflag &= ~OPOST;
+
+    if (ioctl(fd, TCSETS2, &tio) != 0) {
+        close(fd);
+        fd = -1;
+        return -1;
+    }
+
+    return fd;
+}
+
+// constructor
+RCInput_RCProtocol::RCInput_RCProtocol(const char *_dev_sbus, const char *_dev_115200) :
+    dev_sbus(_dev_sbus),
+    dev_115200(_dev_115200)
+{
+}
+
+void RCInput_RCProtocol::init()
+{
+    if (dev_sbus) {
+        fd_sbus = open_sbus(dev_sbus);
+    } else {
+        fd_sbus = -1;
+    }
+    if (dev_115200) {
+        fd_115200 = open_115200(dev_115200);
+    } else {
+        fd_115200 = -1;
+    }
+    rcp.init();
+    printf("SBUS FD %d  115200 FD %d\n", fd_sbus, fd_115200);
+}
+
+void RCInput_RCProtocol::_timer_tick(void)
+{
+    uint8_t b[40];
+
+    if (fd_sbus != -1) {
+        ssize_t n = ::read(fd_sbus, &b[0], sizeof(b));
+        if (n > 0) {
+            for (uint8_t i=0; i<n; i++) {
+                rcp.process_byte(b[i], 100000);
+            }
+        }
+    }
+    if (fd_115200 != -1) {
+        ssize_t n = ::read(fd_115200, &b[0], sizeof(b));
+        if (n > 0) {
+            for (uint8_t i=0; i<n; i++) {
+                rcp.process_byte(b[i], 115200);
+            }
+        }
+    }
+
+    if (rcp.new_input()) {
+        uint8_t n = rcp.num_channels();
+        for (uint8_t i=0; i<n; i++) {
+            _pwm_values[i] = rcp.read(i);
+        }
+        _num_channels = n;
+        rc_input_count++;
+    }
+}
+
+#endif // HAL
diff --git a/libraries/AP_HAL_Linux/RCInput_RCProtocol.h b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h
new file mode 100644
index 0000000000..d9cdeae7a0
--- /dev/null
+++ b/libraries/AP_HAL_Linux/RCInput_RCProtocol.h
@@ -0,0 +1,50 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  RC input system that uses libraries/AP_RCProtocol with UART based inputs
+  with either SBUS protocol or 115200 based protocols (or both)
+ */
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_RCProtocol/AP_RCProtocol.h>
+#include "RCInput.h"
+#include <stdarg.h>
+
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+
+namespace Linux {
+
+class RCInput_RCProtocol : public RCInput {
+public:
+    RCInput_RCProtocol(const char *dev_sbus, const char *dev_115200);
+    void init() override;
+    void _timer_tick(void) override;
+
+private:
+    int open_sbus(const char *path);
+    int open_115200(const char *path);
+
+    const char *dev_sbus;
+    const char *dev_115200;
+
+    int fd_sbus;
+    int fd_115200;
+    AP_RCProtocol rcp;
+};
+};
+
+#endif