diff --git a/libraries/AP_HAL_ChibiOS/CANClock.h b/libraries/AP_HAL_ChibiOS/CANClock.h
index f5fa32c985..22fe3233f2 100644
--- a/libraries/AP_HAL_ChibiOS/CANClock.h
+++ b/libraries/AP_HAL_ChibiOS/CANClock.h
@@ -139,17 +139,17 @@ void setUtcSyncParams(const UtcSyncParams& params);
 class SystemClock : public uavcan::ISystemClock, uavcan::Noncopyable {
     SystemClock() { }
 
-    virtual void adjustUtc(uavcan::UtcDuration adjustment)
+    virtual void adjustUtc(uavcan::UtcDuration adjustment) override
     {
         clock::adjustUtc(adjustment);
     }
 
 public:
-    virtual uavcan::MonotonicTime getMonotonic() const
+    virtual uavcan::MonotonicTime getMonotonic() const override
     {
         return clock::getMonotonic();
     }
-    virtual uavcan::UtcTime getUtc()             const
+    virtual uavcan::UtcTime getUtc()             const override
     {
         return clock::getUtc();
     }
diff --git a/libraries/AP_HAL_ChibiOS/CANIface.h b/libraries/AP_HAL_ChibiOS/CANIface.h
index 4330258a76..cb3f795490 100644
--- a/libraries/AP_HAL_ChibiOS/CANIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANIface.h
@@ -174,15 +174,15 @@ class CanIface : public uavcan::ICanIface, uavcan::Noncopyable {
     int computeTimings(uavcan::uint32_t target_bitrate, Timings& out_timings);
 
     virtual uavcan::int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline,
-                                 uavcan::CanIOFlags flags);
+                                 uavcan::CanIOFlags flags) override;
 
     virtual uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
-                                    uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags);
+                                    uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags) override;
 
     virtual uavcan::int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs,
-            uavcan::uint16_t num_configs);
+            uavcan::uint16_t num_configs) override;
 
-    virtual uavcan::uint16_t getNumFilters() const
+    virtual uavcan::uint16_t getNumFilters() const override
     {
         return NumFilters;
     }
@@ -252,7 +252,7 @@ public:
      * Total number of hardware failures and other kinds of errors (e.g. queue overruns).
      * May increase continuously if the interface is not connected to the bus.
      */
-    virtual uavcan::uint64_t getErrorCount() const;
+    virtual uavcan::uint64_t getErrorCount() const override;
 
     /**
      * Number of times the driver exercised library's requirement to abort transmission on first error.
@@ -307,7 +307,7 @@ class CanDriver : public uavcan::ICanDriver, uavcan::Noncopyable {
 
     virtual uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks,
                                    const uavcan::CanFrame* (& pending_tx)[uavcan::MaxCanIfaces],
-                                   uavcan::MonotonicTime blocking_deadline);
+                                   uavcan::MonotonicTime blocking_deadline) override;
 
     static void initOnce();
     static void initOnce(uavcan::uint8_t can_number, bool enable_irqs);
@@ -345,9 +345,9 @@ public:
     int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode);
     int init(const uavcan::uint32_t bitrate, const CanIface::OperatingMode mode, uavcan::uint8_t can_number);
 
-    virtual CanIface* getIface(uavcan::uint8_t iface_index);
+    virtual CanIface* getIface(uavcan::uint8_t iface_index) override;
 
-    virtual uavcan::uint8_t getNumIfaces() const
+    virtual uavcan::uint8_t getNumIfaces() const override
     {
         return num_ifaces_;
     }
diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index 4fc1cadcdd..c664d27055 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -36,8 +36,8 @@ public:
 
 #ifdef ENABLE_HEAP
     // heap functions, note that a heap once alloc'd cannot be dealloc'd
-    virtual void *allocate_heap_memory(size_t size);
-    virtual void *heap_realloc(void *heap, void *ptr, size_t new_size);
+    virtual void *allocate_heap_memory(size_t size) override;
+    virtual void *heap_realloc(void *heap, void *ptr, size_t new_size) override;
 #endif // ENABLE_HEAP
 
     /*