diff --git a/src/drivers/boards/auav-x21/board_config.h b/src/drivers/boards/auav-x21/board_config.h
index 1b48090704f..1cd1878f5da 100644
--- a/src/drivers/boards/auav-x21/board_config.h
+++ b/src/drivers/boards/auav-x21/board_config.h
@@ -247,6 +247,10 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
 #define BOARD_HAS_STATIC_MANIFEST 1
 
 __BEGIN_DECLS
diff --git a/src/drivers/boards/auav-x21/init.c b/src/drivers/boards/auav-x21/init.c
index 3ae6834da0a..c00e8cb0a10 100644
--- a/src/drivers/boards/auav-x21/init.c
+++ b/src/drivers/boards/auav-x21/init.c
@@ -121,6 +121,37 @@ __END_DECLS
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	// Configure the GPIO pins to outputs and keep them low.
+	stm32_configgpio(GPIO_GPIO0_OUTPUT);
+	stm32_configgpio(GPIO_GPIO1_OUTPUT);
+	stm32_configgpio(GPIO_GPIO2_OUTPUT);
+	stm32_configgpio(GPIO_GPIO3_OUTPUT);
+	stm32_configgpio(GPIO_GPIO4_OUTPUT);
+	stm32_configgpio(GPIO_GPIO5_OUTPUT);
+
+	/**
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
 /************************************************************************************
  * Name: board_peripheral_reset
  *
@@ -156,6 +187,10 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void
 stm32_boardinitialize(void)
 {
+	// Reset all PWM to Low outputs.
+
+	board_on_reset(-1);
+
 	/* configure LEDs */
 
 	board_autoled_initialize();
@@ -175,14 +210,6 @@ stm32_boardinitialize(void)
 	px4_arch_configgpio(GPIO_VDD_BRICK_VALID);
 	px4_arch_configgpio(GPIO_VDD_5V_PERIPH_OC);
 
-	/* configure the GPIO pins to outputs and keep them low */
-	px4_arch_configgpio(GPIO_GPIO0_OUTPUT);
-	px4_arch_configgpio(GPIO_GPIO1_OUTPUT);
-	px4_arch_configgpio(GPIO_GPIO2_OUTPUT);
-	px4_arch_configgpio(GPIO_GPIO3_OUTPUT);
-	px4_arch_configgpio(GPIO_GPIO4_OUTPUT);
-	px4_arch_configgpio(GPIO_GPIO5_OUTPUT);
-
 	/* configure SPI interfaces */
 
 	stm32_spiinitialize();