diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 514f73bad5..0d619db91b 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -143,7 +143,16 @@ mixer_tick(void)
 	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
 	    (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
 
-		source = MIX_NONE;
+		if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) > 0) {
+			/* a channel based override has been
+			 * triggered, with FMU active */
+			source = MIX_OVERRIDE_FMU_OK;
+
+		} else {
+			/* don't actually mix anything - copy values from r_page_direct_pwm */
+			source = MIX_NONE;
+			memcpy(r_page_servos, r_page_direct_pwm, sizeof(uint16_t)*PX4IO_SERVO_COUNT);
+		}
 
 	} else {
 
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 0894c9a173..edec29ed02 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -80,6 +80,7 @@
 extern volatile uint16_t	r_page_status[];	/* PX4IO_PAGE_STATUS */
 extern uint16_t			r_page_actuators[];	/* PX4IO_PAGE_ACTUATORS */
 extern uint16_t			r_page_servos[];	/* PX4IO_PAGE_SERVOS */
+extern uint16_t			r_page_direct_pwm[];	/* PX4IO_PAGE_DIRECT_PWM */
 extern uint16_t			r_page_raw_rc_input[];	/* PX4IO_PAGE_RAW_RC_INPUT */
 extern uint16_t			r_page_rc_input[];	/* PX4IO_PAGE_RC_INPUT */
 extern uint16_t			r_page_adc[];		/* PX4IO_PAGE_RAW_ADC_INPUT */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 7be03efec3..fd0b484f5b 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -143,6 +143,13 @@ uint16_t		r_page_rc_input[] = {
  */
 uint16_t		r_page_scratch[32];
 
+/**
+ * PAGE 8
+ *
+ * RAW PWM values
+ */
+uint16_t		r_page_direct_pwm[PX4IO_SERVO_COUNT];
+
 /**
  * PAGE 100
  *
@@ -307,7 +314,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 
 			/* XXX range-check value? */
 			if (*values != PWM_IGNORE_THIS_CHANNEL) {
-				r_page_servos[offset] = *values;
+				r_page_direct_pwm[offset] = *values;
 			}
 
 			offset++;
@@ -1011,7 +1018,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 		break;
 
 	case PX4IO_PAGE_DIRECT_PWM:
-		SELECT_PAGE(r_page_servos);
+		SELECT_PAGE(r_page_direct_pwm);
 		break;
 
 	case PX4IO_PAGE_FAILSAFE_PWM: