diff --git a/boards/holybro/durandal-v1/src/board_config.h b/boards/holybro/durandal-v1/src/board_config.h
index 1b274fa88d..a2dfdde765 100644
--- a/boards/holybro/durandal-v1/src/board_config.h
+++ b/boards/holybro/durandal-v1/src/board_config.h
@@ -176,34 +176,13 @@
 #define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 #define HEATER_OUTPUT_EN(on_true)              px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
 
-/* PWM Capture
- *
- * 6  PWM Capture inputs are configured.
- *
- * Pins:
- *
- * FMU_CAP1 : PB11 : TIM2_CH4
- * FMU_CAP2 : PB3  : TIM2_CH2
- * FMU_CAP3 : PA5  : TIM2_CH1
- * FMU_CAP4 : PH9  : TIM12_CH2
- * FMU_CAP5 : PH6  : TIM12_CH1
- * FMU_CAP6 : PD14 : TIM4_CH3
- */
-
-#define GPIO_TIM2_CH4_IN     /* PB11   FMU_CAP3 */ GPIO_TIM2_CH4IN_2
-#define GPIO_TIM2_CH2_IN     /* PB3    FMU_CAP2 */ GPIO_TIM2_CH2IN_2
-#define GPIO_TIM2_CH1_IN     /* PA5    FMU_CAP1 */ GPIO_TIM2_CH1IN_3
-#define GPIO_TIM12_CH2_IN    /* PH9    FMU_CAP4 */ GPIO_TIM12_CH2IN_2
-#define GPIO_TIM12_CH1_IN    /* PH6    FMU_CAP5 */ GPIO_TIM12_CH1IN_2
-#define GPIO_TIM4_CH3_IN     /* PD14   FMU_CAP6 */ GPIO_TIM4_CH3IN_2
-
-#define DIRECT_PWM_CAPTURE_CHANNELS  6
-
 /* PWM
  */
-#define DIRECT_PWM_OUTPUT_CHANNELS  5
+#define DIRECT_PWM_OUTPUT_CHANNELS  10
 
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
+#define BOARD_NUM_IO_TIMERS 4
+
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8};
 
 /* Power supply control and monitoring GPIOs */
 
@@ -254,32 +233,6 @@
 
 /* RC Serial port */
 
-/* Input Capture Channels. */
-
-#define INPUT_CAP1_TIMER                  2
-#define INPUT_CAP1_CHANNEL     /* T2C4 */ 4
-#define GPIO_INPUT_CAP1        /* PB11 */ GPIO_TIM2_CH4_IN
-
-#define INPUT_CAP2_TIMER                  2
-#define INPUT_CAP2_CHANNEL     /* T2C2 */ 2
-#define GPIO_INPUT_CAP2        /*  PB3 */ GPIO_TIM2_CH2_IN
-
-#define INPUT_CAP3_TIMER                  2
-#define INPUT_CAP3_CHANNEL     /* T2C1 */ 1
-#define GPIO_INPU3_CAP1        /*  PA5 */ GPIO_TIM2_CH1_IN
-
-#define INPUT_CAP4_TIMER                  12
-#define INPUT_CAP4_CHANNEL     /* T12C2*/ 2
-#define GPIO_INPUT_CAP4        /* PH9  */ GPIO_TIM12_CH2_IN
-
-#define INPUT_CAP5_TIMER                  12
-#define INPUT_CAP5_CHANNEL     /* T12C1*/ 1
-#define GPIO_INPUT_CAP5        /* PH6  */ GPIO_TIM12_CH1_IN
-
-#define INPUT_CAP6_TIMER                  4
-#define INPUT_CAP6_CHANNEL     /* T4C3 */ 3
-#define GPIO_INPUT_CAP6        /* PD14 */ GPIO_TIM4_CH3_IN
-
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 
 #define PWMIN_TIMER                       4
diff --git a/boards/holybro/durandal-v1/src/timer_config.cpp b/boards/holybro/durandal-v1/src/timer_config.cpp
index c9bc0acd46..84915c2b4d 100644
--- a/boards/holybro/durandal-v1/src/timer_config.cpp
+++ b/boards/holybro/durandal-v1/src/timer_config.cpp
@@ -36,6 +36,8 @@
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer12),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -44,6 +46,12 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortB, GPIO::Pin3}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin5}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
+	initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
+	//initIOTimerChannelCapture(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
diff --git a/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/io_timer_hw_description.h b/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/io_timer_hw_description.h
index 1bdbb296c4..4d05111876 100644
--- a/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/io_timer_hw_description.h
+++ b/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/io_timer_hw_description.h
@@ -39,6 +39,8 @@
 #include <px4_platform/io_timer_init.h>
 #include <stm32_tim.h>
 
+#define initIOTimerChannelCapture initIOTimerChannel // alias, used for param metadata generation
+
 static inline constexpr timer_io_channels_t initIOTimerGPIOInOut(Timer::TimerChannel timer, GPIO::GPIOPin pin)
 {
 	timer_io_channels_t ret{};