diff --git a/libraries/AP_HAL_PX4/Util.cpp b/libraries/AP_HAL_PX4/Util.cpp
index 63a7be18b0..731c8ef461 100644
--- a/libraries/AP_HAL_PX4/Util.cpp
+++ b/libraries/AP_HAL_PX4/Util.cpp
@@ -244,18 +244,26 @@ extern "C" {
   allocate DMA-capable memory if possible. Otherwise return normal
   memory.
 */
-void *PX4Util::dma_allocate(size_t size)
+void *PX4Util::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
 {
 #if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
-    return fat_dma_alloc(size);
+    if (mem_type == AP_HAL::Util::MEM_DMA_SAFE) {
+        return fat_dma_alloc(size);
+    } else {
+        return malloc(size);
+    }
 #else
     return malloc(size);
 #endif
 }
-void PX4Util::dma_free(void *ptr, size_t size)
+void PX4Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
 {
 #if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
-    fat_dma_free(ptr, size);
+    if (mem_type == AP_HAL::Util::MEM_DMA_SAFE) {
+        return fat_dma_free(ptr, size);
+    } else {
+        return free(ptr);
+    }    
 #else
     return free(ptr);
 #endif
diff --git a/libraries/AP_HAL_PX4/Util.h b/libraries/AP_HAL_PX4/Util.h
index fea9323699..7fc72802f1 100644
--- a/libraries/AP_HAL_PX4/Util.h
+++ b/libraries/AP_HAL_PX4/Util.h
@@ -62,9 +62,9 @@ public:
     void set_imu_target_temp(int8_t *target) override;
 
     // allocate and free DMA-capable memory if possible. Otherwise return normal memory
-    void *dma_allocate(size_t size) override;
-    void dma_free(void *ptr, size_t size) override;
-    
+    void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
+    void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
+
 private:
     int _safety_handle;
     PX4::NSHShellStream _shell_stream;