diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h
index 99a15fbaaf..b5fba07d0d 100644
--- a/boards/px4/fmu-v5x/src/board_config.h
+++ b/boards/px4/fmu-v5x/src/board_config.h
@@ -204,20 +204,6 @@
 #define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
 #define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
-/* PWM Capture
- *
- * 1  PWM Capture inputs are configured.
- *
- * Pins:
- *
- * FMU_CAP1 : PI0  : TIM5_CH4
- */
-
-#define GPIO_TIM5_CH4IN      /* PI0  T5C4   FMU_CAP1 */ GPIO_TIM5_CH4IN_2
-#define GPIO_TIM5_CH4OUT     /* PI0  T5C4   FMU_CAP1 */ GPIO_TIM5_CH4OUT_2
-
-#define DIRECT_PWM_CAPTURE_CHANNELS  1
-
 /* PC12 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
  *  While armed it shall be configured at a GPIO OUT set LOW
@@ -230,9 +216,9 @@
 #endif
 /* PWM
  */
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define DIRECT_PWM_OUTPUT_CHANNELS  9
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8};
 
 /* Power supply control and monitoring GPIOs */
 
@@ -314,7 +300,6 @@
 #define INPUT_CAP1_TIMER                  5
 #define INPUT_CAP1_CHANNEL     /* T5C4 */ 4
 #define GPIO_INPUT_CAP1        /*  PI0 */ GPIO_TIM5_CH4IN
-#define BOARD_CAPTURE_GPIO /* PI0 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN0)
 
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER                       4
diff --git a/boards/px4/fmu-v5x/src/timer_config.cpp b/boards/px4/fmu-v5x/src/timer_config.cpp
index 3073f0c22f..67adba6a23 100644
--- a/boards/px4/fmu-v5x/src/timer_config.cpp
+++ b/boards/px4/fmu-v5x/src/timer_config.cpp
@@ -72,6 +72,7 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
 	initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortI, GPIO::Pin0}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =