diff --git a/libraries/AP_HAL/CANIface.h b/libraries/AP_HAL/CANIface.h
index ad8a0ead3597cc..306ad0e9af6ee9 100644
--- a/libraries/AP_HAL/CANIface.h
+++ b/libraries/AP_HAL/CANIface.h
@@ -264,6 +264,14 @@ class AP_HAL::CANIface
     // register a frame callback function
     virtual bool register_frame_callback(FrameCb cb);
 
+    // set mask and value on packet id to track tx timestamp for
+    virtual void set_track_tx_timestamp(uint32_t mask, uint32_t value) {}
+
+    // get timestamp of last packet sent with matching mask and value
+    virtual uint64_t get_tracked_tx_timestamp() {
+        return 0;
+    }
+
 protected:
     virtual int8_t get_iface_num() const = 0;
     virtual bool add_to_rx_queue(const CanRxItem &rx_item) = 0;