diff --git a/flight/RevoMini/System/pios_board.c b/flight/RevoMini/System/pios_board.c
index 380f5fe59..5f3121110 100644
--- a/flight/RevoMini/System/pios_board.c
+++ b/flight/RevoMini/System/pios_board.c
@@ -293,6 +293,31 @@ static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm
 	pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id;
 }
 
+static void PIOS_Board_configure_pwm(const struct pios_pwm_cfg *pios_pwm_cfg)
+{
+	/* Set up the receiver port.  Later this should be optional */
+	uint32_t pios_pwm_id;
+	PIOS_PWM_Init(&pios_pwm_id, pios_pwm_cfg);
+
+	uint32_t pios_pwm_rcvr_id;
+	if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
+		PIOS_Assert(0);
+	}
+	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
+}
+
+static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *pios_ppm_cfg)
+{
+	uint32_t pios_ppm_id;
+	PIOS_PPM_Init(&pios_ppm_id, pios_ppm_cfg);
+
+	uint32_t pios_ppm_rcvr_id;
+	if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
+		PIOS_Assert(0);
+	}
+	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
+}
+
 /**
  * PIOS_Board_Init()
  * initializes all the core subsystems on this specific hardware
@@ -641,6 +666,13 @@ void PIOS_Board_Init(void) {
 	}
 #endif /* PIOS_INCLUDE_RFM22B */
 
+#if defined(PIOS_INCLUDE_PWM) ||  defined(PIOS_INCLUDE_PWM)
+	
+	const struct pios_servo_cfg *pios_servo_cfg;
+	// default to servo outputs only
+	pios_servo_cfg = &pios_servo_cfg_out;
+#endif
+	
 	/* Configure the receiver port*/
 	uint8_t hwsettings_rcvrport;
 	HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
@@ -650,35 +682,33 @@ void PIOS_Board_Init(void) {
 			break;
 		case HWSETTINGS_RM_RCVRPORT_PWM:
 #if defined(PIOS_INCLUDE_PWM)
-		{
 			/* Set up the receiver port.  Later this should be optional */
-			uint32_t pios_pwm_id;
-			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
-			
-			uint32_t pios_pwm_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
-				PIOS_Assert(0);
-			}
-			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
-		}
+			PIOS_Board_configure_pwm(&pios_pwm_cfg);
 #endif	/* PIOS_INCLUDE_PWM */
 			break;
 		case HWSETTINGS_RM_RCVRPORT_PPM:
 		case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
+		case HWSETTINGS_RM_RCVRPORT_PPMPWM:
 #if defined(PIOS_INCLUDE_PPM)
-		{
-			uint32_t pios_ppm_id;
-			PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
-			
-			uint32_t pios_ppm_rcvr_id;
-			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
-				PIOS_Assert(0);
+			if(hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS)
+			{
+				// configure servo outputs and the remaining 5 inputs as outputs
+				pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
 			}
-			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
-		}
+
+			PIOS_Board_configure_ppm(&pios_ppm_cfg);
+
+			// enable pwm on the remaining channels
+			if(hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM)
+			{
+				PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg);
+			}
+
+			break;
 #endif	/* PIOS_INCLUDE_PPM */
 		case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
-		
+			// configure only the servo outputs
+			pios_servo_cfg = &pios_servo_cfg_out_in;
 			break;
 	}
 
@@ -695,20 +725,8 @@ void PIOS_Board_Init(void) {
 #endif	/* PIOS_INCLUDE_GCSRCVR */
 
 #ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
-	switch (hwsettings_rcvrport) {
-		case HWSETTINGS_RM_RCVRPORT_DISABLED:
-		case HWSETTINGS_RM_RCVRPORT_PWM:
-		case HWSETTINGS_RM_RCVRPORT_PPM:
-			/* Set up the servo outputs */
-			PIOS_Servo_Init(&pios_servo_cfg);
-			break;
-		case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
-		case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
-			//PIOS_Servo_Init(&pios_servo_rcvr_cfg);
-			//TODO: Prepare the configurations on board_hw_defs and handle here:
-			PIOS_Servo_Init(&pios_servo_cfg);
-			break;
-	}
+	// pios_servo_cfg points to the correct configuration based on input port settings
+	PIOS_Servo_Init(pios_servo_cfg);
 #else
 	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
 #endif
diff --git a/flight/board_hw_defs/revomini/board_hw_defs.c b/flight/board_hw_defs/revomini/board_hw_defs.c
index 538131b91..4dfc9af2a 100644
--- a/flight/board_hw_defs/revomini/board_hw_defs.c
+++ b/flight/board_hw_defs/revomini/board_hw_defs.c
@@ -1291,9 +1291,120 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
 		},
 		.remap = GPIO_AF_TIM5,
 	},
-};
+	// PWM pins on FlexiIO(receiver) port
+	{
+		// * 6: PB15 = SPI2 MOSI, TIM12 CH2
 
-const struct pios_servo_cfg pios_servo_cfg = {
+		.timer = TIM12,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_15,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource15,
+		},
+		.remap = GPIO_AF_TIM12,
+	},	
+	{
+		// *  7: PC6 = TIM8 CH1, USART6 TX
+		.timer = TIM8,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOC,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_6,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource6,
+		},
+		.remap = GPIO_AF_TIM8,
+	},
+	
+	{
+		// *  8: PC7 = TIM8 CH2, USART6 RX
+		.timer = TIM8,
+		.timer_chan = TIM_Channel_2,
+		.pin = {
+			.gpio = GPIOC,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_7,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource7,
+		},
+		.remap = GPIO_AF_TIM8,
+	},
+	
+	{
+		// *  9: PC8 = TIM8 CH3
+		.timer = TIM8,
+		.timer_chan = TIM_Channel_3,
+		.pin = {
+			.gpio = GPIOC,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_8,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource8,
+		},
+		.remap = GPIO_AF_TIM8,
+	},
+	
+	{
+		// * 10: PC9 = TIM8 CH4
+		.timer = TIM8,
+		.timer_chan = TIM_Channel_4,
+		.pin = {
+			.gpio = GPIOC,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_9,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource9,
+		},
+		.remap = GPIO_AF_TIM8,
+	},
+	 
+	{
+		// *  5: PB14 = SPI2 MISO, TIM12 CH1, USART3 RTS
+		.timer = TIM12,
+		.timer_chan = TIM_Channel_1,
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin = GPIO_Pin_14,
+				.GPIO_Speed = GPIO_Speed_2MHz,
+				.GPIO_Mode  = GPIO_Mode_AF,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd  = GPIO_PuPd_UP
+			},
+			.pin_source = GPIO_PinSource14,
+		},
+		.remap = GPIO_AF_TIM12,
+	},
+};
+#define PIOS_SERVOPORT_ALL_PINS_PWMOUT 6
+#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM 11
+#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN 12
+
+const struct pios_servo_cfg pios_servo_cfg_out = {
 	.tim_oc_init = {
 		.TIM_OCMode = TIM_OCMode_PWM1,
 		.TIM_OutputState = TIM_OutputState_Enable,
@@ -1305,7 +1416,37 @@ const struct pios_servo_cfg pios_servo_cfg = {
 		.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
 	},
 	.channels = pios_tim_servoport_all_pins,
-	.num_channels = NELEMENTS(pios_tim_servoport_all_pins),
+	.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT,
+};
+// All servo outputs, servo input ch1 ppm, ch2-6 outputs
+const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = {
+	.tim_oc_init = {
+		.TIM_OCMode = TIM_OCMode_PWM1,
+		.TIM_OutputState = TIM_OutputState_Enable,
+		.TIM_OutputNState = TIM_OutputNState_Disable,
+		.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
+		.TIM_OCPolarity = TIM_OCPolarity_High,
+		.TIM_OCNPolarity = TIM_OCPolarity_High,
+		.TIM_OCIdleState = TIM_OCIdleState_Reset,
+		.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
+	},
+	.channels = pios_tim_servoport_all_pins,
+	.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM,
+};
+// All servo outputs, servo inputs ch1-6 Outputs
+const struct pios_servo_cfg pios_servo_cfg_out_in = {
+	.tim_oc_init = {
+		.TIM_OCMode = TIM_OCMode_PWM1,
+		.TIM_OutputState = TIM_OutputState_Enable,
+		.TIM_OutputNState = TIM_OutputNState_Disable,
+		.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
+		.TIM_OCPolarity = TIM_OCPolarity_High,
+		.TIM_OCNPolarity = TIM_OCPolarity_High,
+		.TIM_OCIdleState = TIM_OCIdleState_Reset,
+		.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
+	},
+	.channels = pios_tim_servoport_all_pins,
+	.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN,
 };
 
 
@@ -1424,6 +1565,18 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
 	.channels = pios_tim_rcvrport_all_channels,
 	.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
 };
+// this configures outputs 2-6 as pwm inputs 
+const struct pios_pwm_cfg pios_pwm_ppm_cfg = {
+	.tim_ic_init = {
+		.TIM_ICPolarity = TIM_ICPolarity_Rising,
+		.TIM_ICSelection = TIM_ICSelection_DirectTI,
+		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
+		.TIM_ICFilter = 0x0,
+	},
+	.channels = &pios_tim_rcvrport_all_channels[1],
+	.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
+};
+
 #endif
 
 /*
@@ -1437,7 +1590,7 @@ static const struct pios_ppm_cfg pios_ppm_cfg = {
 		.TIM_ICSelection = TIM_ICSelection_DirectTI,
 		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
 		.TIM_ICFilter = 0x0,
-		.TIM_Channel = TIM_Channel_2,
+		.TIM_Channel = TIM_Channel_1,
 	},
 	/* Use only the first channel for ppm */
 	.channels = &pios_tim_rcvrport_all_channels[0],