diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat
index ec449a6303..06e4834e90 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat
@@ -5,7 +5,7 @@
 include ../MatekH743/hwdef.dat
 
 # undefine the pins we are going to change
-undef PC7 PA0 PD14 PD15 PE5 PE6 PB0 PB1
+undef PC7 PB0 PB1 PA0 PA1 PA15 PD14 PD15 PE5 PE6
 
 PC7 USART6_RX USART6
 
@@ -13,6 +13,7 @@ PC7 USART6_RX USART6
 PB0  TIM3_CH3 TIM3  PWM(1)  GPIO(50) BIDIR
 PB1  TIM3_CH4 TIM3  PWM(2)  GPIO(51)
 PA0  TIM2_CH1 TIM2  PWM(3)  GPIO(52) BIDIR
+PA1  TIM2_CH2 TIM2  PWM(4)  GPIO(53)
 
 # Disable DMA on PWM9-12 so that the LEDs get a channel
 PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) NODMA
@@ -20,5 +21,11 @@ PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59) NODMA
 PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60) NODMA
 PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61) NODMA
 
+# Beeper
+PA15 BUZZER OUTPUT GPIO(32) LOW
+define HAL_BUZZER_PIN 32
+define HAL_BUZZER_ON 1
+define HAL_BUZZER_OFF 0
+
 DMA_PRIORITY S* TIM3* TIM2*
 DMA_NOSHARE SPI1* SPI4* TIM3* TIM2*
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
index ffb4b9bddc..6f930300db 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743/hwdef.dat
@@ -16,8 +16,10 @@ env OPTIMIZE -Os
 # bootloader takes first sector
 FLASH_RESERVE_START_KB 128
 
+
 # ChibiOS system timer
-STM32_ST_USE_TIMER 5
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
 
 # USB
 PA11 OTG_FS_DM OTG1
@@ -143,10 +145,10 @@ PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
 # Motors
 PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
 PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
-PA0  TIM2_CH1 TIM2  PWM(3)  GPIO(52)
-PA1  TIM2_CH2 TIM2  PWM(4)  GPIO(53)
-PA2  TIM2_CH3 TIM2  PWM(5)  GPIO(54)
-PA3  TIM2_CH4 TIM2  PWM(6)  GPIO(55)
+PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
+PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
 PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
 PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
 PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
@@ -156,10 +158,7 @@ PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
 PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
 
 # Beeper
-PA15 BUZZER OUTPUT GPIO(32) LOW
-define HAL_BUZZER_PIN 32
-define HAL_BUZZER_ON 1
-define HAL_BUZZER_OFF 0
+PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
 
 # microSD support
 PC8 SDMMC1_D0 SDMMC1