diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 705c89225684b..aeec5aed47017 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -100,7 +100,7 @@ void Util::free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type)
 /*
   heap functions used by lua scripting
  */
-void *Util::allocate_heap_memory(uint32_t size)
+void *Util::heap_create(uint32_t size)
 {
     memory_heap_t *heap = (memory_heap_t *)malloc(size + sizeof(memory_heap_t));
     if (heap == nullptr) {
@@ -110,24 +110,25 @@ void *Util::allocate_heap_memory(uint32_t size)
     return heap;
 }
 
-void Util::free_heap_memory(void *ptr)
+void Util::heap_destroy(void *ptr)
 {
-    memory_heap_t *heap = (memory_heap_t *)ptr;
     free(ptr);
 }
 
-void *Util::heap_allocfree(void *heap, void *ptr, uint32_t new_size)
+void *Util::heap_allocate(void *heap, uint32_t size)
 {
     if (heap == nullptr) {
         return nullptr;
     }
-    if (new_size == 0) {
-        if (ptr != nullptr) {
-            chHeapFree(ptr);
-        }
+    if (size == 0) {
         return nullptr;
     }
-    return chHeapAlloc((memory_heap_t *)heap, new_size);
+    return chHeapAlloc((memory_heap_t *)heap, size);
+}
+
+void Util::heap_free(void *ptr)
+{
+    return chHeapFree(ptr);
 }
 
 
diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index d2480b9065fff..9fae8f94903d2 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -50,9 +50,10 @@ class ChibiOS::Util : public AP_HAL::Util {
 
 #if ENABLE_HEAP
     // heap functions for scripting support
-    void *allocate_heap_memory(uint32_t size) override;
-    void free_heap_memory(void *p) override;
-    void *heap_allocfree(void *heap, void *ptr, uint32_t new_size) override;
+    void *heap_create(uint32_t size) override;
+    void heap_destroy(void *p) override;
+    void *heap_allocate(void *heap, uint32_t size) override;
+    void heap_free(void *ptr) override;
     void *std_realloc(void *ptr, uint32_t new_size) override;
 #endif // ENABLE_HEAP