diff --git a/src/drivers/stm32/drv_led_pwm.cpp b/src/drivers/stm32/drv_led_pwm.cpp
index ea3dff17b2..5a2cff8dc7 100644
--- a/src/drivers/stm32/drv_led_pwm.cpp
+++ b/src/drivers/stm32/drv_led_pwm.cpp
@@ -63,6 +63,15 @@
 
 
 #if defined(BOARD_HAS_LED_PWM)
+
+/* Board can override rate */
+
+#if (BOARD_LED_PWM_RATE)
+#  define LED_PWM_RATE BOARD_LED_PWM_RATE
+#else
+#  define LED_PWM_RATE 50
+#endif
+
 #define REG(_tmr, _reg) (*(volatile uint32_t *)(led_pwm_timers[_tmr].base + _reg))
 
 #define rCR1(_tmr)      REG(_tmr, STM32_GTIM_CR1_OFFSET)
@@ -104,6 +113,56 @@ led_pwm_timer_get_period(unsigned timer)
 	return (rARR(timer));
 }
 
+#if !defined(BOARD_HAS_SHARED_PWM_TIMERS)
+
+static void led_pwm_timer_init_timer(unsigned timer)
+{
+	irqstate_t flags = px4_enter_critical_section();
+
+	/* enable the timer clock before we try to talk to it */
+
+	modifyreg32(led_pwm_timers[timer].clock_register, 0, led_pwm_timers[timer].clock_bit);
+
+	/* disable and configure the timer */
+	rCR1(timer) = 0;
+	rCR2(timer) = 0;
+	rSMCR(timer) = 0;
+	rDIER(timer) = 0;
+	rCCER(timer) = 0;
+	rCCMR1(timer) = 0;
+	rCCMR2(timer) = 0;
+	rCCR1(timer) = 0;
+	rCCR2(timer) = 0;
+	rCCR3(timer) = 0;
+	rCCR4(timer) = 0;
+	rCCER(timer) = 0;
+	rDCR(timer) = 0;
+
+	if ((led_pwm_timers[timer].base == STM32_TIM1_BASE) || (led_pwm_timers[timer].base == STM32_TIM8_BASE)) {
+
+		/* master output enable = on */
+
+		rBDTR(timer) = ATIM_BDTR_MOE;
+	}
+
+	/* If the timer clock source provided as clock_freq is the STM32_APBx_TIMx_CLKIN
+	 * then configure the timer to free-run at 1MHz.
+	 * Otherwize, other frequencies are attainable by adjusting .clock_freq accordingly.
+	 */
+
+	rPSC(timer) = (led_pwm_timers[timer].clock_freq / 1000000) - 1;
+
+	/* configure the timer to update at the desired rate */
+
+	rARR(timer) = 1000000 / LED_PWM_RATE;
+
+	/* generate an update event; reloads the counter and all registers */
+	rEGR(timer) = GTIM_EGR_UG;
+
+	px4_leave_critical_section(flags);
+
+}
+#endif
 
 static void
 led_pwm_channel_init(unsigned channel)
@@ -233,7 +292,11 @@ led_pwm_servo_init(void)
 {
 	/* do basic timer initialisation first */
 	for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
+#if defined(BOARD_HAS_SHARED_PWM_TIMERS)
 		io_timer_init_timer(i);
+#else
+		led_pwm_timer_init_timer(i);
+#endif
 	}
 
 	/* now init channels */