diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h
index b2fee65aca..c110cd5cbc 100644
--- a/apps/drivers/drv_pwm_output.h
+++ b/apps/drivers/drv_pwm_output.h
@@ -103,6 +103,9 @@ ORB_DECLARE(output_pwm);
 /** disarm all servo outputs (stop generating pulses) */
 #define PWM_SERVO_DISARM	_IOC(_PWM_SERVO_BASE, 1)
 
+/** set update rate in Hz */
+#define PWM_SERVO_SET_UPDATE_RATE	_IOC(_PWM_SERVO_BASE, 2)
+
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
 
diff --git a/apps/drivers/hil/hil.cpp b/apps/drivers/hil/hil.cpp
index 67b16aa42f..32bdb0776a 100644
--- a/apps/drivers/hil/hil.cpp
+++ b/apps/drivers/hil/hil.cpp
@@ -503,6 +503,10 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		// up_pwm_servo_arm(false);
 		break;
 
+	case PWM_SERVO_SET_UPDATE_RATE:
+		g_hil->set_pwm_rate(arg);
+		break;
+
 	case PWM_SERVO_SET(2):
 	case PWM_SERVO_SET(3):
 		if (_mode != MODE_4PWM) {
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index a995f6214d..d5f4123c2e 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -470,6 +470,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		up_pwm_servo_arm(false);
 		break;
 
+	case PWM_SERVO_SET_UPDATE_RATE:
+		set_pwm_rate(arg);
+		break;
+
 	case PWM_SERVO_SET(2):
 	case PWM_SERVO_SET(3):
 		if (_mode != MODE_4PWM) {