diff --git a/boards/av/x-v1/src/init.c b/boards/av/x-v1/src/init.c
index ff9bb079cd..68fc740ed8 100644
--- a/boards/av/x-v1/src/init.c
+++ b/boards/av/x-v1/src/init.c
@@ -90,7 +90,7 @@ static int configure_switch(void);
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/cuav/nora/src/init.c b/boards/cuav/nora/src/init.c
index 21781a3b0d..c9f3b60086 100644
--- a/boards/cuav/nora/src/init.c
+++ b/boards/cuav/nora/src/init.c
@@ -106,7 +106,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/cuav/x7pro/src/init.c b/boards/cuav/x7pro/src/init.c
index 21781a3b0d..c9f3b60086 100644
--- a/boards/cuav/x7pro/src/init.c
+++ b/boards/cuav/x7pro/src/init.c
@@ -106,7 +106,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/cubepilot/cubeorange/src/init.c b/boards/cubepilot/cubeorange/src/init.c
index 277c08d4f1..af6b2189f8 100644
--- a/boards/cubepilot/cubeorange/src/init.c
+++ b/boards/cubepilot/cubeorange/src/init.c
@@ -97,7 +97,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/cubepilot/cubeyellow/src/init.c b/boards/cubepilot/cubeyellow/src/init.c
index 5f593f1132..3700662a17 100644
--- a/boards/cubepilot/cubeyellow/src/init.c
+++ b/boards/cubepilot/cubeyellow/src/init.c
@@ -97,7 +97,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/holybro/durandal-v1/src/init.c b/boards/holybro/durandal-v1/src/init.c
index 38d668dc46..09cf63df04 100644
--- a/boards/holybro/durandal-v1/src/init.c
+++ b/boards/holybro/durandal-v1/src/init.c
@@ -138,7 +138,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/holybro/kakutef7/src/init.c b/boards/holybro/kakutef7/src/init.c
index 9bb5df097b..2a41274a3e 100644
--- a/boards/holybro/kakutef7/src/init.c
+++ b/boards/holybro/kakutef7/src/init.c
@@ -120,7 +120,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/holybro/pix32v5/src/init.c b/boards/holybro/pix32v5/src/init.c
index fee6a4ed12..8b1208020b 100644
--- a/boards/holybro/pix32v5/src/init.c
+++ b/boards/holybro/pix32v5/src/init.c
@@ -139,7 +139,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/modalai/fc-v1/src/init.c b/boards/modalai/fc-v1/src/init.c
index 0b18941c6e..75bef2628a 100644
--- a/boards/modalai/fc-v1/src/init.c
+++ b/boards/modalai/fc-v1/src/init.c
@@ -137,7 +137,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/modalai/fc-v2/src/init.c b/boards/modalai/fc-v2/src/init.c
index 9d492c3f5a..32c45202e0 100644
--- a/boards/modalai/fc-v2/src/init.c
+++ b/boards/modalai/fc-v2/src/init.c
@@ -135,7 +135,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/mro/ctrl-zero-f7-oem/src/init.c b/boards/mro/ctrl-zero-f7-oem/src/init.c
index e6038b160d..4d8e58d159 100644
--- a/boards/mro/ctrl-zero-f7-oem/src/init.c
+++ b/boards/mro/ctrl-zero-f7-oem/src/init.c
@@ -128,7 +128,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/mro/ctrl-zero-f7/src/init.c b/boards/mro/ctrl-zero-f7/src/init.c
index e6038b160d..4d8e58d159 100644
--- a/boards/mro/ctrl-zero-f7/src/init.c
+++ b/boards/mro/ctrl-zero-f7/src/init.c
@@ -128,7 +128,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/mro/ctrl-zero-h7-oem/src/init.c b/boards/mro/ctrl-zero-h7-oem/src/init.c
index 8ab6352f84..0c8f4cf157 100644
--- a/boards/mro/ctrl-zero-h7-oem/src/init.c
+++ b/boards/mro/ctrl-zero-h7-oem/src/init.c
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/mro/ctrl-zero-h7/src/init.c b/boards/mro/ctrl-zero-h7/src/init.c
index 8ab6352f84..0c8f4cf157 100644
--- a/boards/mro/ctrl-zero-h7/src/init.c
+++ b/boards/mro/ctrl-zero-h7/src/init.c
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/mro/pixracerpro/src/init.c b/boards/mro/pixracerpro/src/init.c
index fe10543b88..c9107bd4ff 100644
--- a/boards/mro/pixracerpro/src/init.c
+++ b/boards/mro/pixracerpro/src/init.c
@@ -100,7 +100,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/nxp/fmuk66-e/src/init.c b/boards/nxp/fmuk66-e/src/init.c
index 2bed987fbb..37563bdf9d 100644
--- a/boards/nxp/fmuk66-e/src/init.c
+++ b/boards/nxp/fmuk66-e/src/init.c
@@ -117,7 +117,7 @@ __END_DECLS
 void board_on_reset(int status)
 {
 	for (int i = 0; i < 6; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/nxp/fmuk66-v3/src/init.c b/boards/nxp/fmuk66-v3/src/init.c
index 01294ff10e..e6fccc13dd 100644
--- a/boards/nxp/fmuk66-v3/src/init.c
+++ b/boards/nxp/fmuk66-v3/src/init.c
@@ -117,7 +117,7 @@ __END_DECLS
 void board_on_reset(int status)
 {
 	for (int i = 0; i < 6; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/px4/fmu-v5/src/init.c b/boards/px4/fmu-v5/src/init.c
index 6b40ad2d89..60d4c756e8 100644
--- a/boards/px4/fmu-v5/src/init.c
+++ b/boards/px4/fmu-v5/src/init.c
@@ -139,7 +139,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/px4/fmu-v5x/src/init.cpp b/boards/px4/fmu-v5x/src/init.cpp
index a873ff3615..e4634580d2 100644
--- a/boards/px4/fmu-v5x/src/init.cpp
+++ b/boards/px4/fmu-v5x/src/init.cpp
@@ -143,7 +143,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/px4/fmu-v6u/src/init.c b/boards/px4/fmu-v6u/src/init.c
index 300d8c3d11..b835ca2d4c 100644
--- a/boards/px4/fmu-v6u/src/init.c
+++ b/boards/px4/fmu-v6u/src/init.c
@@ -140,7 +140,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/px4/fmu-v6x/src/init.c b/boards/px4/fmu-v6x/src/init.c
index fea8969f0b..5436d1bf38 100644
--- a/boards/px4/fmu-v6x/src/init.c
+++ b/boards/px4/fmu-v6x/src/init.c
@@ -140,7 +140,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/boards/spracing/h7extreme/src/init.c b/boards/spracing/h7extreme/src/init.c
index 826b05a0e2..6a4004c6ca 100644
--- a/boards/spracing/h7extreme/src/init.c
+++ b/boards/spracing/h7extreme/src/init.c
@@ -121,7 +121,7 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void board_on_reset(int status)
 {
 	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT_PULL_DOWN(io_timer_channel_get_as_pwm_input(i)));
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
 	if (status >= 0) {
diff --git a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h
index 7b251bacce..0a870b6a96 100644
--- a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h
+++ b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h
@@ -112,8 +112,7 @@ int kinetis_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, boo
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  kinetis_gpiosetevent(pinset,r,f,e,fp,a)
 
 #define _PX4_MAKE_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
-#define PX4_MAKE_GPIO_INPUT(gpio) _PX4_MAKE_GPIO((gpio), GPIO_PULLUP)
-#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) _PX4_MAKE_GPIO((gpio), GPIO_PULLDOWN)
-#define PX4_MAKE_GPIO_OUTPUT(gpio) _PX4_MAKE_GPIO((gpio), GPIO_HIGHDRIVE)
+#define PX4_MAKE_GPIO_INPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_PULLUP)
+#define PX4_MAKE_GPIO_OUTPUT(gpio) _PX4_MAKE_GPIO(gpio, GPIO_HIGHDRIVE)
 
 __END_DECLS
diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h
index 20c4f360e3..368271913c 100644
--- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h
+++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/micro_hal.h
@@ -105,7 +105,6 @@ int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  imxrt_gpiosetevent(pinset,r,f,e,fp,a)
 
 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ))
-#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_SCHMITT_TRIGGER | IOMUX_PULL_DOWN_100K | IOMUX_DRIVE_HIZ))
 #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT | GPIO_OUTPUT_ZERO | IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST))
 
 __END_DECLS
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h
index a7a9b39d05..63803b5a4a 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h
+++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/micro_hal.h
@@ -103,7 +103,6 @@ __BEGIN_DECLS
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  stm32_gpiosetevent(pinset,r,f,e,fp,a)
 
 #define PX4_MAKE_GPIO_INPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
-#define PX4_MAKE_GPIO_INPUT_PULL_DOWN(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN))
 #define PX4_MAKE_GPIO_OUTPUT(gpio) (((gpio) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
 
 #define PX4_GPIO_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz))