diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 4a391d39f9..a3c1740d40 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -330,6 +330,12 @@ else
 		fi
 	fi
 
+	# PPS capture driver
+	if param greater -s INPUT_CAP_ENABLE 0
+	then
+		input_capture start
+	fi
+
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
diff --git a/src/drivers/input_capture/input_capture.cpp b/src/drivers/input_capture/input_capture.cpp
index c3b81fa4f0..d5fd7517bd 100644
--- a/src/drivers/input_capture/input_capture.cpp
+++ b/src/drivers/input_capture/input_capture.cpp
@@ -88,7 +88,7 @@ InputCapture::InputCapture() :
 		}
 	}
 
-	_trigger_pub.advertise();
+	_capture_pub.advertise();
 }
 
 InputCapture::~InputCapture()
@@ -157,7 +157,7 @@ InputCapture::publish_trigger()
 		_trigger_rate_failure.store(false);
 	}
 
-	camera_trigger_s trigger{};
+	input_capture_s trigger{};
 
 	// MODES 1 and 2 are not fully tested
 	if (_camera_capture_mode == 0 || _gpio_capture) {
@@ -194,33 +194,13 @@ InputCapture::publish_trigger()
 
 	}
 
-	trigger.feedback = true;
 	_capture_overflows = _trigger.overflow;
 
 	if (!publish) {
 		return;
 	}
 
-	pps_capture_s pps_capture;
-
-	if (_pps_capture_sub.update(&pps_capture)) {
-		_pps_hrt_timestamp = pps_capture.timestamp;
-		_pps_rtc_timestamp = pps_capture.rtc_timestamp;
-	}
-
-
-	if (_pps_hrt_timestamp > 0) {
-		// Last PPS RTC time + elapsed time to the camera capture interrupt
-		trigger.timestamp_utc = _pps_rtc_timestamp + (trigger.timestamp - _pps_hrt_timestamp);
-
-	} else {
-		// No PPS capture received, use RTC clock as fallback
-		timespec tv{};
-		px4_clock_gettime(CLOCK_REALTIME, &tv);
-		trigger.timestamp_utc = ts_to_abstime(&tv) - hrt_elapsed_time(&trigger.timestamp);
-	}
-
-	_trigger_pub.publish(trigger);
+	_capture_pub.publish(trigger);
 }
 
 void
diff --git a/src/drivers/input_capture/input_capture.hpp b/src/drivers/input_capture/input_capture.hpp
index 4499de8394..0c735745e5 100644
--- a/src/drivers/input_capture/input_capture.hpp
+++ b/src/drivers/input_capture/input_capture.hpp
@@ -50,7 +50,7 @@
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
-#include <uORB/topics/camera_trigger.h>
+#include <uORB/topics/input_capture.h>
 #include <uORB/topics/pps_capture.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
@@ -100,11 +100,10 @@ private:
 
 	// Publishers
 	uORB::Publication<vehicle_command_ack_s>	_command_ack_pub{ORB_ID(vehicle_command_ack)};
-	uORB::Publication<camera_trigger_s>		_trigger_pub{ORB_ID(camera_trigger)};
+	uORB::Publication<input_capture_s>		_capture_pub{ORB_ID(input_capture)};
 
 	// Subscribers
 	uORB::Subscription				_command_sub{ORB_ID(vehicle_command)};
-	uORB::Subscription				_pps_capture_sub{ORB_ID(pps_capture)};
 
 	// Trigger Buffer
 	struct _trig_s {
diff --git a/src/drivers/input_capture/input_capture_params.c b/src/drivers/input_capture/input_capture_params.c
index 4c6b661a57..fc984d33e0 100644
--- a/src/drivers/input_capture/input_capture_params.c
+++ b/src/drivers/input_capture/input_capture_params.c
@@ -31,57 +31,23 @@
  *
  ****************************************************************************/
 
-// /**
-//  * @file camera_capture_params.c
-//  * Camera capture parameters
-//  *
-//  * @author Mohammed Kabir <kabir@uasys.io>
-//  */
-// /**
-//  * Camera strobe delay
-//  *
-//  * This parameter sets the delay between image integration start and strobe firing
-//  *
-//  * @unit ms
-//  * @min 0.0
-//  * @max 100.0
-//  * @decimal 1
-//  * @group Camera Capture
-//  */
-// PARAM_DEFINE_FLOAT(CAM_CAP_DELAY, 0.0f);
+/**
+ * @file input_capture_params.c
+ * Input capture parameters
+ *
+ * @author Mohammed Kabir <kabir@uasys.io>
+ * @author Jaeyoung Lim <jalim@ethz.ch>
+ */
 
-// /**
-//  * Camera capture feedback
-//  *
-//  * Enables camera capture feedback
-//  *
-//  * @boolean
-//  * @group Camera Control
-//  * @reboot_required true
-//  */
-// PARAM_DEFINE_INT32(CAM_CAP_FBACK, 0);
-
-// /**
-//  * Camera capture timestamping mode
-//  *
-//  * Change time measurement
-//  *
-//  * @value 0 Get absolute timestamp
-//  * @value 1 Get timestamp of mid exposure (active high)
-//  * @value 2 Get timestamp of mid exposure (active low)
-//  *
-//  * @group Camera Control
-//  * @reboot_required true
-//  */
-// PARAM_DEFINE_INT32(CAM_CAP_MODE, 0);
-
-// /**
-//  * Camera capture edge
-//  *
-//  * @value 0 Falling edge
-//  * @value 1 Rising edge
-//  *
-//  * @group Camera Control
-//  * @reboot_required true
-//  */
-// PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
+/**
+ * Input Capture Enable
+ *
+ * Enables the PPS capture module.
+ * This switches mode of FMU channel 7 to be the
+ * PPS input channel.
+ *
+ * @boolean
+  * @group Camera Control
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(INPUT_CAP_ENABLE, 0);