diff --git a/libraries/AP_HAL_Linux/RCInput.h b/libraries/AP_HAL_Linux/RCInput.h
index ce2a78a395..5a3c2fda2a 100644
--- a/libraries/AP_HAL_Linux/RCInput.h
+++ b/libraries/AP_HAL_Linux/RCInput.h
@@ -9,6 +9,11 @@
 class Linux::LinuxRCInput : public AP_HAL::RCInput {
 public:
     LinuxRCInput();
+
+    static LinuxRCInput *from(AP_HAL::RCInput *rcinput) {
+        return static_cast<LinuxRCInput*>(rcinput);
+    }
+
     virtual void init(void* machtnichts);
     bool new_input();
     uint8_t num_channels();
diff --git a/libraries/AP_HAL_Linux/RCOutput_Bebop.h b/libraries/AP_HAL_Linux/RCOutput_Bebop.h
index 43e0ac6889..1c39a95f67 100644
--- a/libraries/AP_HAL_Linux/RCOutput_Bebop.h
+++ b/libraries/AP_HAL_Linux/RCOutput_Bebop.h
@@ -50,6 +50,11 @@ public:
 class Linux::LinuxRCOutput_Bebop : public AP_HAL::RCOutput {
 public:
     LinuxRCOutput_Bebop();
+
+    static LinuxRCOutput_Bebop *from(AP_HAL::RCOutput *rcout) {
+        return static_cast<LinuxRCOutput_Bebop*>(rcout);
+    }
+
     void     init(void* dummy);
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
diff --git a/libraries/AP_HAL_Linux/RPIOUARTDriver.h b/libraries/AP_HAL_Linux/RPIOUARTDriver.h
index 22d9fc61fe..bd5e253dee 100644
--- a/libraries/AP_HAL_Linux/RPIOUARTDriver.h
+++ b/libraries/AP_HAL_Linux/RPIOUARTDriver.h
@@ -9,6 +9,11 @@
 class Linux::LinuxRPIOUARTDriver : public Linux::LinuxUARTDriver {
 public:
     LinuxRPIOUARTDriver();
+
+    static LinuxRPIOUARTDriver *from(AP_HAL::UARTDriver *uart) {
+        return static_cast<LinuxRPIOUARTDriver*>(uart);
+    }
+
     void begin(uint32_t b, uint16_t rxS, uint16_t txS);
     void _timer_tick(void);
     bool isExternal(void);
diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index 9313cf51fc..300a8d3b65 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -341,7 +341,7 @@ void *LinuxScheduler::_rcin_thread(void *arg)
     }
     while (true) {
         sched->_microsleep(APM_LINUX_RCIN_PERIOD);
-        ((LinuxRCInput *)hal.rcin)->_timer_tick();
+        LinuxRCInput::from(hal.rcin)->_timer_tick();
     }
     return NULL;
 }
@@ -357,18 +357,17 @@ void *LinuxScheduler::_uart_thread(void* arg)
         sched->_microsleep(APM_LINUX_UART_PERIOD);
 
         // process any pending serial bytes
-        ((LinuxUARTDriver *)hal.uartA)->_timer_tick();
-        ((LinuxUARTDriver *)hal.uartB)->_timer_tick();
+        LinuxUARTDriver::from(hal.uartA)->_timer_tick();
+        LinuxUARTDriver::from(hal.uartB)->_timer_tick();
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
         //SPI UART not use SPI
-        if ( ((LinuxRPIOUARTDriver *)hal.uartC)->isExternal() )
-        {
-            ((LinuxRPIOUARTDriver *)hal.uartC)->_timer_tick();
+        if (LinuxRPIOUARTDriver::from(hal.uartC)->isExternal()) {
+            LinuxRPIOUARTDriver::from(hal.uartC)->_timer_tick();
         }
 #else
-        ((LinuxUARTDriver *)hal.uartC)->_timer_tick();
+        LinuxUARTDriver::from(hal.uartC)->_timer_tick();
 #endif
-        ((LinuxUARTDriver *)hal.uartE)->_timer_tick();
+        LinuxUARTDriver::from(hal.uartE)->_timer_tick();
     }
     return NULL;
 }
@@ -384,7 +383,7 @@ void *LinuxScheduler::_tonealarm_thread(void* arg)
         sched->_microsleep(APM_LINUX_TONEALARM_PERIOD);
 
         // process tone command
-        ((LinuxUtil *)hal.util)->_toneAlarm_timer_tick();
+        LinuxUtil::from(hal.util)->_toneAlarm_timer_tick();
     }
     return NULL;
 }
@@ -400,7 +399,7 @@ void *LinuxScheduler::_io_thread(void* arg)
         sched->_microsleep(APM_LINUX_IO_PERIOD);
 
         // process any pending storage writes
-        ((LinuxStorage *)hal.storage)->_timer_tick();
+        LinuxStorage::from(hal.storage)->_timer_tick();
 
         // run registered IO procepsses
         sched->_run_io();
diff --git a/libraries/AP_HAL_Linux/Storage.h b/libraries/AP_HAL_Linux/Storage.h
index 18cb476f09..51e02ec525 100644
--- a/libraries/AP_HAL_Linux/Storage.h
+++ b/libraries/AP_HAL_Linux/Storage.h
@@ -16,13 +16,15 @@
 #define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT)
 #define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE)
 
-class Linux::LinuxStorage : public AP_HAL::Storage 
+class Linux::LinuxStorage : public AP_HAL::Storage
 {
 public:
-    LinuxStorage() :
-	_fd(-1),
-	_dirty_mask(0)
-	{}
+    LinuxStorage() : _fd(-1),_dirty_mask(0) { }
+
+    static LinuxStorage *from(AP_HAL::Storage *storage) {
+        return static_cast<LinuxStorage*>(storage);
+    }
+
     void init(void* machtnichts) {}
     uint8_t  read_byte(uint16_t loc);
     uint16_t read_word(uint16_t loc);
diff --git a/libraries/AP_HAL_Linux/UARTDriver.h b/libraries/AP_HAL_Linux/UARTDriver.h
index a6411a9e8c..d5036dc01b 100644
--- a/libraries/AP_HAL_Linux/UARTDriver.h
+++ b/libraries/AP_HAL_Linux/UARTDriver.h
@@ -9,6 +9,11 @@
 class Linux::LinuxUARTDriver : public AP_HAL::UARTDriver {
 public:
     LinuxUARTDriver(bool default_console);
+
+    static LinuxUARTDriver *from(AP_HAL::UARTDriver *uart) {
+        return static_cast<LinuxUARTDriver*>(uart);
+    }
+
     /* Linux implementations of UARTDriver virtual methods */
     void begin(uint32_t b);
     void begin(uint32_t b, uint16_t rxS, uint16_t txS);
diff --git a/libraries/AP_HAL_Linux/Util.h b/libraries/AP_HAL_Linux/Util.h
index 505cd6099d..fb88f1d1fe 100644
--- a/libraries/AP_HAL_Linux/Util.h
+++ b/libraries/AP_HAL_Linux/Util.h
@@ -8,6 +8,10 @@
 
 class Linux::LinuxUtil : public AP_HAL::Util {
 public:
+    static LinuxUtil *from(AP_HAL::Util *util) {
+        return static_cast<LinuxUtil*>(util);
+    }
+
     void init(int argc, char * const *argv) {
         saved_argc = argc;
         saved_argv = argv;