diff --git a/boards/auterion/fmu-v6s/default.px4board b/boards/auterion/fmu-v6s/default.px4board
index a8ecc28ef4..296f2db880 100644
--- a/boards/auterion/fmu-v6s/default.px4board
+++ b/boards/auterion/fmu-v6s/default.px4board
@@ -21,6 +21,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
diff --git a/boards/auterion/fmu-v6s/init/rc.board_sensors b/boards/auterion/fmu-v6s/init/rc.board_sensors
index ad71841d60..4c4be283d7 100644
--- a/boards/auterion/fmu-v6s/init/rc.board_sensors
+++ b/boards/auterion/fmu-v6s/init/rc.board_sensors
@@ -70,3 +70,9 @@ fi
 
 # External compass IST8310 on I2C1
 ist8310 -X -b 1 -R 10 start
+
+# Start an external PWM generator
+if param greater PCA9685_EN_BUS 0
+then
+	pca9685_pwm_out start -b 1
+fi