diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 46874df116..24367eb9d3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -266,6 +266,18 @@ then
 		then
 			pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
 		fi
+
+		#
+		# Per channel failsafe settings.
+		#
+		pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
+		pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
+		pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
+		pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
+		pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
+		pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
+		pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
+		pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
 	fi
 fi
 
@@ -310,6 +322,18 @@ then
 	then
 		pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV}
 	fi
+
+	#
+	# Per channel failsafe settings.
+	#
+	pwm failsafe -c 1 -p p:PWM_MAIN_FAIL1
+	pwm failsafe -c 2 -p p:PWM_MAIN_FAIL2
+	pwm failsafe -c 3 -p p:PWM_MAIN_FAIL3
+	pwm failsafe -c 4 -p p:PWM_MAIN_FAIL4
+	pwm failsafe -c 5 -p p:PWM_MAIN_FAIL5
+	pwm failsafe -c 6 -p p:PWM_MAIN_FAIL6
+	pwm failsafe -c 7 -p p:PWM_MAIN_FAIL7
+	pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
 fi
 
 unset MIXER_AUX_FILE
diff --git a/src/modules/sensors/pwm_params_aux.c b/src/modules/sensors/pwm_params_aux.c
index fee49c90ee..63b087e9c4 100644
--- a/src/modules/sensors/pwm_params_aux.c
+++ b/src/modules/sensors/pwm_params_aux.c
@@ -101,6 +101,136 @@ PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
  */
 PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
 
+/******************************************************************************
+*                                 PWM_AUX_FAIL                                *
+******************************************************************************/
+/**
+ * Set the failsafe PWM for the auxiliary 1 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_FAIL1, -1);
+
+/**
+ * Set the failsafe PWM for the auxiliary 2 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_FAIL2, -1);
+
+/**
+ * Set the failsafe PWM for the auxiliary 3 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_FAIL3, -1);
+
+/**
+ * Set the failsafe PWM for the auxiliary 4 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_FAIL4, -1);
+
+/**
+ * Set the failsafe PWM for the auxiliary 5 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_FAIL5, -1);
+
+/**
+ * Set the failsafe PWM for the auxiliary 6 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_FAIL6, -1);
+
+/**
+ * Set the failsafe PWM for the auxiliary 7 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_FAIL7, -1);
+
+/**
+ * Set the failsafe PWM for the auxiliary 8 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_FAIL8, -1);
 
 /******************************************************************************
 *                                 PWM_AUX_DIS                                 *
diff --git a/src/modules/sensors/pwm_params_main.c b/src/modules/sensors/pwm_params_main.c
index 4db274f24c..d7e9a70df2 100644
--- a/src/modules/sensors/pwm_params_main.c
+++ b/src/modules/sensors/pwm_params_main.c
@@ -101,6 +101,138 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
  */
 PARAM_DEFINE_INT32(PWM_DISARMED, 900);
 
+/******************************************************************************
+*                                PWM_MAIN_FAIL                                *
+******************************************************************************/
+
+/**
+ * Set the failsafe PWM for the main 1 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_FAIL1, -1);
+
+/**
+ * Set the failsafe PWM for the main 2 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_FAIL2, -1);
+
+/**
+ * Set the failsafe PWM for the main 3 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_FAIL3, -1);
+
+/**
+ * Set the failsafe PWM for the main 4 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_FAIL4, -1);
+
+/**
+ * Set the failsafe PWM for the main 5 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_FAIL5, -1);
+
+/**
+ * Set the failsafe PWM for the main 6 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_FAIL6, -1);
+
+/**
+ * Set the failsafe PWM for the main 7 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_FAIL7, -1);
+
+/**
+ * Set the failsafe PWM for the main 8 output
+ *
+ * This is the PWM pulse the autopilot is outputting if in failsafe mode.
+ * When set to -1 the value is set automatically depending if the actuator
+ * is a motor (900us) or a servo (1500us)
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_FAIL8, -1);
+
 /******************************************************************************
 *                                PWM_MAIN_DIS                                 *
 ******************************************************************************/
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index f42c0e1a47..4978333742 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -597,6 +597,10 @@ pwm_main(int argc, char *argv[])
 			return 1;
 		}
 
+		if (pwm_value < 0) {
+			return 0;
+		}
+
 		if (pwm_value == 0) {
 			usage("failsafe: no PWM provided");
 			return 1;