diff --git a/libraries/AP_InertialSensor/AuxiliaryBus.cpp b/libraries/AP_InertialSensor/AuxiliaryBus.cpp
index 20f46065e1..a041550f58 100644
--- a/libraries/AP_InertialSensor/AuxiliaryBus.cpp
+++ b/libraries/AP_InertialSensor/AuxiliaryBus.cpp
@@ -99,3 +99,12 @@ int AuxiliaryBus::register_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg,
 
     return 0;
 }
+
+/*
+  add a periodic callback. This is added to a list which the backend needs to then process
+ */
+AP_HAL::Device::PeriodicHandle AuxiliaryBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
+{
+    // not implemented yet
+    return nullptr;
+}
diff --git a/libraries/AP_InertialSensor/AuxiliaryBus.h b/libraries/AP_InertialSensor/AuxiliaryBus.h
index 38f2d64f6d..106a16964e 100644
--- a/libraries/AP_InertialSensor/AuxiliaryBus.h
+++ b/libraries/AP_InertialSensor/AuxiliaryBus.h
@@ -18,6 +18,7 @@
 #pragma once
 
 #include <inttypes.h>
+#include <AP_HAL/Device.h>
 
 class AuxiliaryBus;
 class AP_InertialSensor_Backend;
@@ -101,6 +102,9 @@ public:
     AuxiliaryBusSlave *request_next_slave(uint8_t addr);
     int register_periodic_read(AuxiliaryBusSlave *slave, uint8_t reg, uint8_t size);
 
+    /* See AP_HAL::Device::register_periodic_callback() */
+    AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t, AP_HAL::Device::PeriodicCb);
+    
     /*
      * Get the semaphore needed to call methods on the bus this sensor is on.
      * Internally no locks are taken and it's the caller's duty to lock and