diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board
index 57f42a688e..a0344dcf1d 100644
--- a/boards/px4/fmu-v5x/default.px4board
+++ b/boards/px4/fmu-v5x/default.px4board
@@ -39,6 +39,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
+CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index eb99898597..8b7f5aadca 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -39,6 +39,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
+CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
diff --git a/docs/en/advanced_config/flight_termination.md b/docs/en/advanced_config/flight_termination.md
index 2233b0d588..46900d7589 100644
--- a/docs/en/advanced_config/flight_termination.md
+++ b/docs/en/advanced_config/flight_termination.md
@@ -69,6 +69,11 @@ For each AUX output to which a safety device is attached, where "n" is the PWM p
 
 Finally, set the `PWM_AUX_FAILn` and `PWM_MAIN_FAILn` PWM values for any motors.
 
+::: info
+Flight termination via ATS only works if `drivers/pwm_input` is included in the firmware for your board.
+If not, you need to add it manually to your board configuration using [boardconfig](../hardware/porting_guide_config.md#px4-menuconfig-setup).
+:::
+
 ## Logic Diagram
 
 The diagram below shows the logical flow around flight termination.