diff --git a/conf/modules/AOA_pwm.xml b/conf/modules/AOA_pwm.xml
index 4c548f28ed..63797e9011 100644
--- a/conf/modules/AOA_pwm.xml
+++ b/conf/modules/AOA_pwm.xml
@@ -33,7 +33,7 @@
   <makefile target="ap">
     <file name="aoa_pwm.c" />
     <define name="AOA_PWM_CHANNEL" value="$(AOA_PWM_CHANNEL)" cond="ifdef AOA_PWM_CHANNEL" />
-    <define name="PWM_INPUT_TICKS_PER_USEC" value="1" />
+    <define name="$(AOA_PWM_CHANNEL)_TICKS_PER_USEC" value="1" />
     <define name="USE_$(AOA_PWM_CHANNEL)" value="PWM_PULSE_TYPE_ACTIVE_LOW" />
   </makefile>
 </module>
diff --git a/conf/modules/meteo_stick.xml b/conf/modules/meteo_stick.xml
index 3ef28a1a9d..ac1893158b 100644
--- a/conf/modules/meteo_stick.xml
+++ b/conf/modules/meteo_stick.xml
@@ -71,8 +71,8 @@ MS_SPI_DEV_LOWER=$(shell echo $(MS_SPI_DEV) | tr A-Z a-z)
     <define name="USE_SPI_SLAVE$(MS_EEPROM_SLAVE_IDX)" cond="ifdef MS_EEPROM_SLAVE_IDX"/>
     <define name="MS_SPI_DEV" value="$(MS_SPI_DEV_LOWER)"/>
     <define name="MS_HUMIDITY_PWM_INPUT" value="$(MS_HUMIDITY_PWM_INPUT)" cond="ifdef MS_HUMIDITY_PWM_INPUT"/>
-    <define name="PWM_INPUT_TICKS_PER_USEC" value="42" cond="ifdef MS_HUMIDITY_PWM_INPUT"/> <!-- set timer clock to 42 MHz -->
-    <define name="USE_$(MS_HUMIDITY_PWM_INPUT)" value="PWM_PULSE_TYPE_ACTIVE_LOW" cond="ifdef MS_MS_HUMIDITY_PWM_INPUT"/>
+    <define name="$(MS_HUMIDITY_PWM_INPUT)_TICKS_PER_USEC" value="42" cond="ifdef MS_HUMIDITY_PWM_INPUT"/> <!-- set timer clock to 42 MHz -->
+    <define name="USE_$(MS_HUMIDITY_PWM_INPUT)" value="PWM_PULSE_TYPE_ACTIVE_LOW" cond="ifdef MS_HUMIDITY_PWM_INPUT"/>
   </makefile>
 </module>
 
diff --git a/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c b/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c
index c13320892f..0da7150250 100644
--- a/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.c
@@ -25,7 +25,7 @@
  *
  * handling of smt32 PWM input using a timer with capture.
  */
-#include "mcu_periph/pwm_input_arch.h"
+#include "mcu_periph/pwm_input.h"
 
 #include BOARD_CONFIG
 #include "generated/airframe.h"
@@ -48,13 +48,18 @@
 #define PWM_INPUT_IRQ_PRIO 2
 #endif
 
-static inline void pwm_input_set_timer(uint32_t tim)
+static const uint32_t pwm_input_ticks_per_usec[] = {
+  PWM_INPUT1_TICKS_PER_USEC,
+  PWM_INPUT2_TICKS_PER_USEC
+};
+
+static inline void pwm_input_set_timer(uint32_t tim, uint32_t ticks_per_usec)
 {
   timer_reset(tim);
   timer_set_mode(tim, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
   timer_set_period(tim, 0xFFFF);
   uint32_t timer_clk = timer_get_frequency(tim);
-  timer_set_prescaler(tim, (timer_clk / (PWM_INPUT_TICKS_PER_USEC * ONE_MHZ_CLK)) - 1);
+  timer_set_prescaler(tim, (timer_clk / (ticks_per_usec * ONE_MHZ_CLK)) - 1);
   timer_enable_counter(tim);
 }
 
@@ -76,15 +81,27 @@ void pwm_input_init(void)
    */
 #if USE_PWM_INPUT_TIM1
   rcc_periph_clock_enable(RCC_TIM1);
-  pwm_input_set_timer(TIM1);
+  pwm_input_set_timer(TIM1, PWM_INPUT_TIM1_TICKS_PER_USEC);
 #endif
 #if USE_PWM_INPUT_TIM2
   rcc_periph_clock_enable(RCC_TIM2);
-  pwm_input_set_timer(TIM2);
+  pwm_input_set_timer(TIM2, PWM_INPUT_TIM2_TICKS_PER_USEC);
 #endif
 #if USE_PWM_INPUT_TIM3
   rcc_periph_clock_enable(RCC_TIM3);
-  pwm_input_set_timer(TIM3);
+  pwm_input_set_timer(TIM3, PWM_INPUT_TIM3_TICKS_PER_USEC);
+#endif
+#if USE_PWM_INPUT_TIM5
+  rcc_periph_clock_enable(RCC_TIM5);
+  pwm_input_set_timer(TIM5, PWM_INPUT_TIM5_TICKS_PER_USEC);
+#endif
+#if USE_PWM_INPUT_TIM8
+  rcc_periph_clock_enable(RCC_TIM8);
+  pwm_input_set_timer(TIM8, PWM_INPUT_TIM8_TICKS_PER_USEC);
+#endif
+#if USE_PWM_INPUT_TIM9
+  rcc_periph_clock_enable(RCC_TIM9);
+  pwm_input_set_timer(TIM9, PWM_INPUT_TIM9_TICKS_PER_USEC);
 #endif
 
 #ifdef USE_PWM_INPUT1
@@ -165,6 +182,14 @@ void pwm_input_init(void)
 
 }
 
+uint32_t get_pwm_input_duty_in_usec(uint32_t channel) {
+  return pwm_input_duty_tics[channel] / pwm_input_ticks_per_usec[channel];
+}
+
+uint32_t get_pwm_input_period_in_usec(uint32_t channel) {
+  return pwm_input_period_tics[channel] / pwm_input_ticks_per_usec[channel];
+}
+
 #if USE_PWM_INPUT_TIM1
 
 #if defined(STM32F1)
@@ -235,3 +260,76 @@ void tim3_isr(void) {
 }
 
 #endif
+
+#if USE_PWM_INPUT_TIM5
+
+void tim5_isr(void) {
+  if ((TIM5_SR & TIM5_CC_IF_PERIOD) != 0) {
+    timer_clear_flag(TIM5, TIM5_CC_IF_PERIOD);
+    pwm_input_period_tics[TIM5_PWM_INPUT_IDX] = TIM5_CCR_PERIOD;
+    pwm_input_period_valid[TIM5_PWM_INPUT_IDX] = TRUE;
+  }
+  if ((TIM5_SR & TIM5_CC_IF_DUTY) != 0) {
+    timer_clear_flag(TIM5, TIM5_CC_IF_DUTY);
+    pwm_input_duty_tics[TIM5_PWM_INPUT_IDX] = TIM5_CCR_DUTY;
+    pwm_input_duty_valid[TIM5_PWM_INPUT_IDX] = TRUE;
+  }
+  if ((TIM5_SR & TIM_SR_UIF) != 0) {
+    timer_clear_flag(TIM5, TIM_SR_UIF);
+    // FIXME clear overflow interrupt but what else ?
+  }
+}
+
+#endif
+
+#if USE_PWM_INPUT_TIM8
+
+#if defined(STM32F1)
+void tim8_up_isr(void)
+{
+#elif defined(STM32F4)
+void tim8_up_tim13_isr(void) {
+#endif
+  if ((TIM8_SR & TIM_SR_UIF) != 0) {
+    timer_clear_flag(TIM8, TIM_SR_UIF);
+    // FIXME clear overflow interrupt but what else ?
+  }
+}
+
+void tim8_cc_isr(void) {
+  if ((TIM8_SR & TIM8_CC_IF_PERIOD) != 0) {
+    timer_clear_flag(TIM8, TIM8_CC_IF_PERIOD);
+    pwm_input_period_tics[TIM8_PWM_INPUT_IDX] = TIM8_CCR_PERIOD;
+    pwm_input_period_valid[TIM8_PWM_INPUT_IDX] = TRUE;
+  }
+  if ((TIM8_SR & TIM8_CC_IF_DUTY) != 0) {
+    timer_clear_flag(TIM8, TIM8_CC_IF_DUTY);
+    pwm_input_duty_tics[TIM8_PWM_INPUT_IDX] = TIM8_CCR_DUTY;
+    pwm_input_duty_valid[TIM8_PWM_INPUT_IDX] = TRUE;
+  }
+}
+
+#endif
+
+#if USE_PWM_INPUT_TIM9
+
+// TIM1 break interrupt (which we don't care here) and TIM9 global interrupt
+void tim1_brk_tim9_isr(void) {
+  if ((TIM9_SR & TIM9_CC_IF_PERIOD) != 0) {
+    timer_clear_flag(TIM9, TIM9_CC_IF_PERIOD);
+    pwm_input_period_tics[TIM9_PWM_INPUT_IDX] = TIM9_CCR_PERIOD;
+    pwm_input_period_valid[TIM9_PWM_INPUT_IDX] = TRUE;
+  }
+  if ((TIM9_SR & TIM9_CC_IF_DUTY) != 0) {
+    timer_clear_flag(TIM9, TIM9_CC_IF_DUTY);
+    pwm_input_duty_tics[TIM9_PWM_INPUT_IDX] = TIM9_CCR_DUTY;
+    pwm_input_duty_valid[TIM9_PWM_INPUT_IDX] = TRUE;
+  }
+  if ((TIM9_SR & TIM_SR_UIF) != 0) {
+    timer_clear_flag(TIM9, TIM_SR_UIF);
+    // FIXME clear overflow interrupt but what else ?
+  }
+}
+
+#endif
+
diff --git a/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.h b/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.h
index be748c192c..8529d87b38 100644
--- a/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/pwm_input_arch.h
@@ -49,15 +49,13 @@ enum pwm_input_channels {
  *   TIM1 -> 2 * APB2 = 2 * 84MHz = 168MHz
  *   TIM2 -> 2 * APB1 = 2 * 42MHz = 84MHz
  */
-#ifndef PWM_INPUT_TICKS_PER_USEC
-#define PWM_INPUT_TICKS_PER_USEC 6
+#ifndef PWM_INPUT1_TICKS_PER_USEC
+#define PWM_INPUT1_TICKS_PER_USEC 6
 #endif
 
-#define PWM_INPUT_TICKS_OF_USEC(_v)        ((_v)*PWM_INPUT_TICKS_PER_USEC)
-#define PWM_INPUT_SIGNED_TICKS_OF_USEC(_v) (int32_t)((_v)*PWM_INPUT_TICKS_PER_USEC)
-#define USEC_OF_PWM_INPUT_TICKS(_v)        ((_v)/PWM_INPUT_TICKS_PER_USEC)
-
-#include "mcu_periph/pwm_input.h"
+#ifndef PWM_INPUT2_TICKS_PER_USEC
+#define PWM_INPUT2_TICKS_PER_USEC 6
+#endif
 
 #endif /* PWM_INPUT_ARCH_H */
 
diff --git a/sw/airborne/boards/apogee_1.0.h b/sw/airborne/boards/apogee_1.0.h
index b4702f77eb..84da460cf0 100644
--- a/sw/airborne/boards/apogee_1.0.h
+++ b/sw/airborne/boards/apogee_1.0.h
@@ -355,7 +355,11 @@
 /*
  * PWM input
  */
+// PWM_INPUT1 on TIM1
 #define PWM_INPUT1_TIMER          TIM1
+#ifdef PWM_INPUT1_TICKS_PER_USEC
+#define PWM_INPUT_TIM1_TICKS_PER_USEC PWM_INPUT1_TICKS_PER_USEC
+#endif
 #define PWM_INPUT1_CHANNEL_PERIOD TIM_IC1
 #define PWM_INPUT1_CHANNEL_DUTY   TIM_IC2
 #define PWM_INPUT1_TIMER_INPUT    TIM_IC_IN_TI1
@@ -374,6 +378,35 @@
 #define PWM_INPUT1_GPIO_PIN       GPIO8
 #define PWM_INPUT1_GPIO_AF        GPIO_AF1
 
+// PWM_INPUT2 on TIM9
+#define PWM_INPUT2_TIMER          TIM9
+#ifdef PWM_INPUT2_TICKS_PER_USEC
+#define PWM_INPUT_TIM9_TICKS_PER_USEC PWM_INPUT2_TICKS_PER_USEC
+#endif
+#define PWM_INPUT2_CHANNEL_PERIOD TIM_IC1
+#define PWM_INPUT2_CHANNEL_DUTY   TIM_IC2
+#define PWM_INPUT2_TIMER_INPUT    TIM_IC_IN_TI1
+#define PWM_INPUT2_SLAVE_TRIG     TIM_SMCR_TS_IT1FP1
+#define PWM_INPUT2_IRQ            NVIC_TIM1_BRK_TIM9_IRQ
+#define PWM_INPUT2_CC_IE          (TIM_DIER_CC3IE | TIM_DIER_CC4IE)
+#ifdef USE_PWM_INPUT2
+#define USE_PWM_INPUT_TIM9        TRUE
+#else
+#define USE_PWM_INPUT_TIM9        FALSE
+#endif
+#define TIM9_PWM_INPUT_IDX        1
+#define TIM9_CC_IF_PERIOD         TIM_SR_CC1IF
+#define TIM9_CC_IF_DUTY           TIM_SR_CC2IF
+#define TIM9_CCR_PERIOD           TIM9_CCR1
+#define TIM9_CCR_DUTY             TIM9_CCR2
+// Servo 1 (aka PA2) is used: not compatible with PWM1 (and should be disabled)
+#if (USE_PWM1 && USE_PWM_INPUT2)
+#error "PW1 and PWM_INPUT2 are not compatible"
+#endif
+#define PWM_INPUT2_GPIO_PORT      GPIOA
+#define PWM_INPUT2_GPIO_PIN       GPIO2
+#define PWM_INPUT2_GPIO_AF        GPIO_AF3
+
 /*
  * Spektrum
  */
diff --git a/sw/airborne/mcu_periph/pwm_input.c b/sw/airborne/mcu_periph/pwm_input.c
index ee02d32dc9..b39c877b30 100644
--- a/sw/airborne/mcu_periph/pwm_input.c
+++ b/sw/airborne/mcu_periph/pwm_input.c
@@ -30,3 +30,6 @@ volatile uint32_t pwm_input_duty_tics[PWM_INPUT_NB];
 volatile uint8_t pwm_input_duty_valid[PWM_INPUT_NB];
 volatile uint32_t pwm_input_period_tics[PWM_INPUT_NB];
 volatile uint8_t pwm_input_period_valid[PWM_INPUT_NB];
+
+__attribute__((weak)) uint32_t get_pwm_input_duty_in_usec(uint32_t channel __attribute__((unused))) { return 0; }
+__attribute__((weak)) uint32_t get_pwm_input_period_in_usec(uint32_t channel __attribute__((unused))) { return 0; }
diff --git a/sw/airborne/mcu_periph/pwm_input.h b/sw/airborne/mcu_periph/pwm_input.h
index 88f8e727fd..621948e13e 100644
--- a/sw/airborne/mcu_periph/pwm_input.h
+++ b/sw/airborne/mcu_periph/pwm_input.h
@@ -41,6 +41,8 @@ extern volatile uint32_t pwm_input_period_tics[PWM_INPUT_NB];
 extern volatile uint8_t pwm_input_period_valid[PWM_INPUT_NB];
 
 extern void pwm_input_init(void);
+extern uint32_t get_pwm_input_duty_in_usec(uint32_t channel);
+extern uint32_t get_pwm_input_period_in_usec(uint32_t channel);
 
 #endif /* USE_PWM_INPUT */
 
diff --git a/sw/airborne/modules/sensors/aoa_pwm.c b/sw/airborne/modules/sensors/aoa_pwm.c
index bde6e0f065..0ce31d7345 100644
--- a/sw/airborne/modules/sensors/aoa_pwm.c
+++ b/sw/airborne/modules/sensors/aoa_pwm.c
@@ -113,7 +113,7 @@ void aoa_pwm_update(void) {
   static float prev_aoa = 0.0f;
 
   // raw duty cycle in usec
-  uint32_t duty_raw = pwm_input_duty_tics[AOA_PWM_CHANNEL] / PWM_INPUT_TICKS_PER_USEC;
+  uint32_t duty_raw = get_pwm_input_duty_in_usec(AOA_PWM_CHANNEL);
 
   // remove some offset if needed
   aoa_pwm.raw = duty_raw - AOA_PWM_OFFSET;