diff --git a/boards/matek/h743-slim/src/board_config.h b/boards/matek/h743-slim/src/board_config.h
index 13db68ab37..9653dbb43f 100644
--- a/boards/matek/h743-slim/src/board_config.h
+++ b/boards/matek/h743-slim/src/board_config.h
@@ -111,8 +111,8 @@
 
 /* PWM
  */
-#define DIRECT_PWM_OUTPUT_CHANNELS   8
-#define DIRECT_INPUT_TIMER_CHANNELS  8
+#define DIRECT_PWM_OUTPUT_CHANNELS   10
+#define DIRECT_INPUT_TIMER_CHANNELS  10
 
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
 
diff --git a/boards/matek/h743-slim/src/timer_config.cpp b/boards/matek/h743-slim/src/timer_config.cpp
index bcdc7de7cf..3f1ac93e6f 100644
--- a/boards/matek/h743-slim/src/timer_config.cpp
+++ b/boards/matek/h743-slim/src/timer_config.cpp
@@ -37,7 +37,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
-	// initIOTimer(Timer::Timer15),
+	initIOTimer(Timer::Timer15),
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -49,10 +49,10 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
 	// initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	// initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
-	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
-	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h
index 2fda992be2..ba2292b97e 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h
+++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h
@@ -91,6 +91,9 @@ enum Timer {
 	Timer12,
 	Timer13,
 	Timer14,
+#ifdef STM32_TIM15_BASE
+	Timer15
+#endif
 };
 enum Channel {
 	Channel1 = 1,
@@ -153,6 +156,11 @@ static inline constexpr uint32_t timerBaseRegister(Timer::Timer timer)
 	case Timer::Timer14: return STM32_TIM14_BASE;
 #endif
 
+#ifdef STM32_TIM15_BASE
+
+	case Timer::Timer15: return STM32_TIM15_BASE;
+#endif
+
 	default: break;
 	}
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
index e27432f205..5a72cc9f5e 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
@@ -644,7 +644,12 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode)
 		rCCER(timer) = 0;
 		rDCR(timer) = 0;
 
-		if ((io_timers[timer].base == STM32_TIM1_BASE) || (io_timers[timer].base == STM32_TIM8_BASE)) {
+		if ((io_timers[timer].base == STM32_TIM1_BASE)
+		    || (io_timers[timer].base == STM32_TIM8_BASE)
+#ifdef STM32_TIM15_BASE
+		    || (io_timers[timer].base == STM32_TIM15_BASE)
+#endif
+		   ) {
 
 			/* master output enable = on */
 
diff --git a/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/hw_description.h b/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/hw_description.h
index c2ae6c9ce7..9627d9a4cd 100644
--- a/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/hw_description.h
+++ b/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/hw_description.h
@@ -85,6 +85,7 @@ static inline constexpr uint32_t getTimerUpdateDMAMap(Timer::Timer timer, const
 	case Timer::Timer12:
 	case Timer::Timer13:
 	case Timer::Timer14:
+	case Timer::Timer15:
 		break;
 	}
 
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 4d05111876..06e7db74ea 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
@@ -68,6 +68,10 @@ static inline constexpr timer_io_channels_t initIOTimerGPIOInOut(Timer::TimerCha
 		gpio_af = GPIO_AF3;
 		break;
 
+	case Timer::Timer15:
+		gpio_af = GPIO_AF4;
+		break;
+
 	case Timer::Timer13:
 	case Timer::Timer14:
 		gpio_af = GPIO_AF9;
@@ -259,6 +263,17 @@ static inline constexpr io_timers_t initIOTimer(Timer::Timer timer, DMA dshot_dm
 		ret.vectorno =  STM32_IRQ_TIM14;
 #ifdef CONFIG_STM32_TIM14
 		nuttx_config_timer_enabled = true;
+#endif
+		break;
+
+	case Timer::Timer15:
+		ret.base = STM32_TIM15_BASE;
+		ret.clock_register = STM32_RCC_APB2ENR;
+		ret.clock_bit = RCC_APB2ENR_TIM15EN;
+		ret.clock_freq = STM32_APB2_TIM15_CLKIN;
+		ret.vectorno =  STM32_IRQ_TIM15;
+#ifdef CONFIG_STM32_TIM15
+		nuttx_config_timer_enabled = true;
 #endif
 		break;
 	}