diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 6e254484d9..5fdbf9ee12 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -43,6 +43,7 @@ static UARTDriver uartCDriver(false);
 #endif
 static UARTDriver uartDDriver(false);
 static UARTDriver uartEDriver(false);
+static UARTDriver uartFDriver(false);
 
 static I2CDeviceManager i2c_mgr_instance;
 
@@ -201,6 +202,7 @@ HAL_Linux::HAL_Linux() :
         &uartCDriver,
         &uartDDriver,
         &uartEDriver,
+        &uartFDriver,
         &i2c_mgr_instance,
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
         &i2cDriver0,
@@ -229,7 +231,7 @@ HAL_Linux::HAL_Linux() :
 
 void _usage(void)
 {
-    printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath\n");
+    printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath\n");
     printf("Options:\n");
     printf("\t-serial:          -A /dev/ttyO4\n");
     printf("\t                  -B /dev/ttyS1\n");    
@@ -255,6 +257,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
         {"uartC",         true,  0, 'C'},
         {"uartD",         true,  0, 'D'},
         {"uartE",         true,  0, 'E'},
+        {"uartF",         true,  0, 'F'},
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
         {"dsm",           true,  0, 'S'},
         {"ESC",           true,  0, 'e'},
@@ -265,7 +268,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
         {0, false, 0, 0}
     };
 
-    GetOptLong gopt(argc, argv, "A:B:C:D:E:l:t:he:S",
+    GetOptLong gopt(argc, argv, "A:B:C:D:E:F:l:t:he:S",
                     options);
 
     /*
@@ -288,6 +291,9 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
         case 'E':
             uartEDriver.set_device_path(gopt.optarg);
             break;
+        case 'F':
+            uartFDriver.set_device_path(gopt.optarg);
+            break;
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
         case 'e':
             rcoutDriver.set_device_path(gopt.optarg);
@@ -328,6 +334,7 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
     rcin->init();
     uartA->begin(115200);    
     uartE->begin(115200);    
+    uartF->begin(115200);    
     analogin->init();
     utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
 
diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index 752469451a..5e5de02c13 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -346,6 +346,7 @@ void Scheduler::_run_uarts()
     UARTDriver::from(hal.uartC)->_timer_tick();
 #endif
     UARTDriver::from(hal.uartE)->_timer_tick();
+    UARTDriver::from(hal.uartF)->_timer_tick();
 }
 
 void Scheduler::_rcin_task()