diff --git a/boards/cubepilot/cubeorange/console.cmake b/boards/cubepilot/cubeorange/console.cmake
index 98afef8eed..ce92f98148 100644
--- a/boards/cubepilot/cubeorange/console.cmake
+++ b/boards/cubepilot/cubeorange/console.cmake
@@ -43,6 +43,7 @@ px4_add_board(
 		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
diff --git a/boards/cubepilot/cubeorange/default.cmake b/boards/cubepilot/cubeorange/default.cmake
index 95916fae13..d3bd01eb31 100644
--- a/boards/cubepilot/cubeorange/default.cmake
+++ b/boards/cubepilot/cubeorange/default.cmake
@@ -44,6 +44,7 @@ px4_add_board(
 		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
diff --git a/boards/cubepilot/cubeorange/src/board_config.h b/boards/cubepilot/cubeorange/src/board_config.h
index 0f31ae8ee2..fe9b6d080e 100644
--- a/boards/cubepilot/cubeorange/src/board_config.h
+++ b/boards/cubepilot/cubeorange/src/board_config.h
@@ -115,6 +115,11 @@
 #define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
 #define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
 
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+#define PWMIN_TIMER                       4
+#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
+#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
+
 /* USB
  *  OTG FS: PA9  OTG_FS_VBUS VBUS sensing
  */