diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index 86a0c0a7d89..209ce42a3cc 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -17,7 +17,7 @@ set(config_module_list
 	drivers/led
 	drivers/px4fmu
 	drivers/boards/px4fmu-v5
-	drivers/rgbled
+	drivers/rgbled_pwm
 	drivers/mpu6000
 	drivers/mpu9250
 	drivers/hmc5883
diff --git a/nuttx-configs/px4fmu-v5/nsh/defconfig b/nuttx-configs/px4fmu-v5/nsh/defconfig
index 75b70ea38d7..1c64e9e1624 100644
--- a/nuttx-configs/px4fmu-v5/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v5/nsh/defconfig
@@ -494,7 +494,7 @@ CONFIG_ARCH_BOARD="px4fmu-v5"
 # Common Board Options
 #
 CONFIG_ARCH_HAVE_LEDS=y
-CONFIG_ARCH_LEDS=y
+CONFIG_ARCH_LEDS=n
 CONFIG_ARCH_HAVE_BUTTONS=y
 # CONFIG_ARCH_BUTTONS is not set
 CONFIG_ARCH_HAVE_IRQBUTTONS=y
diff --git a/src/drivers/boards/px4fmu-v5/board_config.h b/src/drivers/boards/px4fmu-v5/board_config.h
index 6abb9d657c3..d005bde248a 100644
--- a/src/drivers/boards/px4fmu-v5/board_config.h
+++ b/src/drivers/boards/px4fmu-v5/board_config.h
@@ -248,6 +248,18 @@ __BEGIN_DECLS
 
 #define DIRECT_INPUT_TIMER_CHANNELS  6
 
+#define BOARD_HAS_LED_PWM
+#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
+
+#define LED_TIM3_CH1OUT  /* PC6   T3C1  GREEN */ GPIO_TIM3_CH1OUT_3
+#define LED_TIM3_CH2OUT  /* PC7   T3C2  BLUE  */ GPIO_TIM3_CH2OUT_3
+#define LED_TIM3_CH4OUT  /* PB1   T3C4  RED   */ GPIO_TIM3_CH4OUT_1
+
+#define LED_TIM5_CH1OUT  /* PH10  T5C1  RED   */ GPIO_TIM5_CH1OUT_2
+#define LED_TIM5_CH2OUT  /* PH11  T5C2  GREEN */ GPIO_TIM5_CH2OUT_2
+#define LED_TIM5_CH3OUT  /* PH12  T5C3  BLUE  */ GPIO_TIM5_CH3OUT_2
+
+
 /* User GPIOs
  *
  * GPIO0-5 are the PWM servo outputs.
diff --git a/src/drivers/boards/px4fmu-v5/px4fmu_led.c b/src/drivers/boards/px4fmu-v5/px4fmu_led.c
index d61cb1606c8..c6c44dd947a 100644
--- a/src/drivers/boards/px4fmu-v5/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu-v5/px4fmu_led.c
@@ -77,7 +77,7 @@ static uint32_t g_ledmap[] = {
 
 #else
 
-#  define xlat(p)
+#  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
 	GPIO_LED_BLUE,    // Indexed by LED_BLUE
 	GPIO_LED_RED,     // Indexed by LED_RED, LED_AMBER
@@ -97,9 +97,9 @@ __EXPORT void led_init(void)
 
 static void phy_set_led(int led, bool state)
 {
-	/* Drive High to switch on */
+	/* Drive Low to switch on */
 
-	stm32_gpiowrite(g_ledmap[led], state);
+	stm32_gpiowrite(g_ledmap[led], !state);
 }
 
 static bool phy_get_led(int led)
diff --git a/src/drivers/boards/px4fmu-v5/px4fmu_timer_config.c b/src/drivers/boards/px4fmu-v5/px4fmu_timer_config.c
index 14e34c0904a..cf123a7b11c 100644
--- a/src/drivers/boards/px4fmu-v5/px4fmu_timer_config.c
+++ b/src/drivers/boards/px4fmu-v5/px4fmu_timer_config.c
@@ -124,3 +124,63 @@ __EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
 	}
 };
+
+__EXPORT const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
+	{
+		.base 				= STM32_TIM3_BASE,
+		.clock_register 	= STM32_RCC_APB1ENR,
+		.clock_bit 			= RCC_APB1ENR_TIM3EN,
+		.clock_freq 		= STM32_APB1_TIM3_CLKIN,
+		.vectorno 			=  0,
+		.first_channel_index = 0,
+		.last_channel_index = 2,
+	},
+	{
+		.base 				= STM32_TIM5_BASE,
+		.clock_register 	= STM32_RCC_APB1ENR,
+		.clock_bit 			= RCC_APB1ENR_TIM5EN,
+		.clock_freq 		= STM32_APB1_TIM5_CLKIN,
+		.vectorno 			=  0,
+		.first_channel_index = 3,
+		.last_channel_index = 5,
+	}
+};
+
+__EXPORT const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
+	{
+		.gpio_out = LED_TIM3_CH4OUT,
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 4,
+	},
+	{
+		.gpio_out = LED_TIM3_CH1OUT,
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 1,
+	},
+	{
+		.gpio_out = LED_TIM3_CH2OUT,
+		.gpio_in  = 0,
+		.timer_index = 0,
+		.timer_channel = 2,
+	},
+	{
+		.gpio_out = LED_TIM5_CH1OUT,
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 1,
+	},
+	{
+		.gpio_out = LED_TIM5_CH2OUT,
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 2,
+	},
+	{
+		.gpio_out = LED_TIM5_CH3OUT,
+		.gpio_in  = 0,
+		.timer_index = 1,
+		.timer_channel = 3,
+	}
+};