diff --git a/libraries/AP_RCMapper/AP_RCMapper.cpp b/libraries/AP_RCMapper/AP_RCMapper.cpp
index f86c8ff96cb..5ea9e5c0a88 100644
--- a/libraries/AP_RCMapper/AP_RCMapper.cpp
+++ b/libraries/AP_RCMapper/AP_RCMapper.cpp
@@ -61,8 +61,19 @@ const AP_Param::GroupInfo RCMapper::var_info[] = {
     AP_GROUPEND
 };
 
+// singleton instance
+RCMapper *RCMapper::_singleton;
+
 // object constructor.
 RCMapper::RCMapper(void)
 {
+    if (_singleton != nullptr) {
+        AP_HAL::panic("RCMapper must be singleton");
+    }
     AP_Param::setup_object_defaults(this, var_info);
+    _singleton = this;
+}
+
+RCMapper *AP::rcmap() {
+    return RCMapper::get_singleton();
 }
diff --git a/libraries/AP_RCMapper/AP_RCMapper.h b/libraries/AP_RCMapper/AP_RCMapper.h
index 88da33bb521..446e04923bb 100644
--- a/libraries/AP_RCMapper/AP_RCMapper.h
+++ b/libraries/AP_RCMapper/AP_RCMapper.h
@@ -12,6 +12,12 @@ public:
     RCMapper(const RCMapper &other) = delete;
     RCMapper &operator=(const RCMapper&) = delete;
 
+    // get singleton instance
+    static RCMapper *get_singleton()
+    {
+        return _singleton;
+    }
+
     /// roll - return input channel number for roll / aileron input
     uint8_t roll() const { return _ch_roll; }
 
@@ -40,4 +46,10 @@ private:
     AP_Int8 _ch_throttle;
     AP_Int8 _ch_forward;
     AP_Int8 _ch_lateral;
+    static RCMapper *_singleton;
+};
+
+namespace AP
+{
+RCMapper *rcmap();
 };