diff --git a/Tools/kconfig/allyesconfig.py b/Tools/kconfig/allyesconfig.py
index 889b659195ed..04d89477816d 100644
--- a/Tools/kconfig/allyesconfig.py
+++ b/Tools/kconfig/allyesconfig.py
@@ -40,6 +40,7 @@
     'DRIVERS_DISTANCE_SENSOR_SRF05', # Requires hardcoded GPIO_ULTRASOUND
     'DRIVERS_PPS_CAPTURE', # Requires PPS GPIO config
     'DRIVERS_PWM_INPUT', # Requires PWM config
+    'DRIVERS_RPM_CAPTURE', # Requires PPS GPIO config
     'DRIVERS_TEST_PPM', # PIN config not portable
     'DRIVERS_TATTU_CAN', # Broken needs fixing
     'MODULES_REPLAY', # Fails on NuttX targets maybe force POSIX dependency?
diff --git a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
index 9ce7b374456d..f9e341a43cd9 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h
@@ -68,7 +68,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
 	IOTimerChanMode_PPS     = 8,
-	IOTimerChanMode_Other   = 9,
+	IOTimerChanMode_RPM     = 9,
+	IOTimerChanMode_Other   = 10,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h
index 788da87485fd..836e214472b8 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h
@@ -67,7 +67,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
 	IOTimerChanMode_PPS     = 8,
-	IOTimerChanMode_Other   = 9,
+	IOTimerChanMode_RPM     = 9,
+	IOTimerChanMode_Other   = 10,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 
diff --git a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h
index 9945e28de6c0..ca93f14a4f84 100644
--- a/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h
@@ -68,7 +68,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
 	IOTimerChanMode_PPS     = 8,
-	IOTimerChanMode_Other   = 9,
+	IOTimerChanMode_RPM     = 9,
+	IOTimerChanMode_Other   = 10,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 
diff --git a/platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h
index 2454056a0354..82369986b517 100644
--- a/platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h
@@ -63,7 +63,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
 	IOTimerChanMode_PPS     = 8,
-	IOTimerChanMode_Other   = 9,
+	IOTimerChanMode_RPM     = 9,
+	IOTimerChanMode_Other   = 10,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 
diff --git a/platforms/nuttx/src/px4/nxp/s32k3xx/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/s32k3xx/include/px4_arch/io_timer.h
index d093130b5180..d6e0ad6eb56a 100644
--- a/platforms/nuttx/src/px4/nxp/s32k3xx/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/nxp/s32k3xx/include/px4_arch/io_timer.h
@@ -63,7 +63,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
 	IOTimerChanMode_PPS     = 8,
-	IOTimerChanMode_Other   = 9,
+	IOTimerChanMode_RPM     = 9,
+	IOTimerChanMode_Other   = 10,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 
diff --git a/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h
index c9fbedd8f0bc..0d042d85ce05 100644
--- a/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/rpi/rpi_common/include/px4_arch/io_timer.h
@@ -73,6 +73,10 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_OneShot = 4,
 	IOTimerChanMode_Trigger = 5,
 	IOTimerChanMode_Dshot   = 6,
+	IOTimerChanMode_LED     = 7,
+	IOTimerChanMode_PPS     = 8,
+	IOTimerChanMode_RPM     = 9,
+	IOTimerChanMode_Other   = 10,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h
index 31d6e9b1c7e4..8f64a825b664 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h
@@ -79,7 +79,8 @@ typedef enum io_timer_channel_mode_t {
 	IOTimerChanMode_Dshot   = 6,
 	IOTimerChanMode_LED     = 7,
 	IOTimerChanMode_PPS     = 8,
-	IOTimerChanMode_Other   = 9,
+	IOTimerChanMode_RPM     = 9,
+	IOTimerChanMode_Other   = 10,
 	IOTimerChanModeSize
 } io_timer_channel_mode_t;
 
diff --git a/src/drivers/rpm_capture/RPMCapture.cpp b/src/drivers/rpm_capture/RPMCapture.cpp
index 127fc633c315..1e054719032b 100644
--- a/src/drivers/rpm_capture/RPMCapture.cpp
+++ b/src/drivers/rpm_capture/RPMCapture.cpp
@@ -77,7 +77,7 @@ bool RPMCapture::init()
 		return false;
 	}
 
-	int ret = io_timer_allocate_channel(_channel, IOTimerChanMode_Other); // TODO: add IOTimerChanMode_RPM
+	int ret = io_timer_allocate_channel(_channel, IOTimerChanMode_RPM);
 
 	if (ret != PX4_OK) {
 		PX4_ERR("gpio alloc failed (%i) for RPM at channel (%d)", ret, _channel);