diff --git a/boards/holybro/durandal-v1/default.cmake b/boards/holybro/durandal-v1/default.cmake
index a48428c6f4..c9056e4075 100644
--- a/boards/holybro/durandal-v1/default.cmake
+++ b/boards/holybro/durandal-v1/default.cmake
@@ -24,7 +24,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		# dshot -- todo needslooking at
+		dshot
 		gps
 		heater
 		#imu # all available imu drivers
diff --git a/boards/holybro/durandal-v1/nuttx-config/include/board.h b/boards/holybro/durandal-v1/nuttx-config/include/board.h
index ed12d2ea75..1ba4cc3ff8 100644
--- a/boards/holybro/durandal-v1/nuttx-config/include/board.h
+++ b/boards/holybro/durandal-v1/nuttx-config/include/board.h
@@ -374,8 +374,6 @@
 
 /* UART RX DMA configurations */
 
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
 #define DMAMAP_UART8_RX         DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
 #define DMAMAP_UART8_TX         DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */
 
diff --git a/boards/holybro/durandal-v1/src/board_config.h b/boards/holybro/durandal-v1/src/board_config.h
index 2282a09191..3e7aab8488 100644
--- a/boards/holybro/durandal-v1/src/board_config.h
+++ b/boards/holybro/durandal-v1/src/board_config.h
@@ -340,6 +340,8 @@
 
 #define DIRECT_INPUT_TIMER_CHANNELS  5
 
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
+
 /* User GPIOs
  *
  * GPIO0-4 are the PWM servo outputs.
diff --git a/boards/holybro/durandal-v1/src/timer_config.c b/boards/holybro/durandal-v1/src/timer_config.c
index aaab861e57..92379e4080 100644
--- a/boards/holybro/durandal-v1/src/timer_config.c
+++ b/boards/holybro/durandal-v1/src/timer_config.c
@@ -60,7 +60,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 3,
 		.handler = io_timer_handler0,
 		.vectorno =  STM32_IRQ_TIMCC,
-
+		.dshot = {
+			.dma_base = STM32_DMA1_BASE,
+			.dmamap = DMAMAP_DMA12_TIM1UP_0,
+			.start_ccr_register = TIM_DMABASE_CCR1,
+			.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
+		}
 	},
 	{
 		.base = STM32_TIM4_BASE,
@@ -71,6 +76,12 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 4,
 		.handler = io_timer_handler1,
 		.vectorno =  STM32_IRQ_TIM4,
+		.dshot = {
+			.dma_base = STM32_DMA1_BASE,
+			.dmamap = DMAMAP_DMA12_TIM4UP_0,
+			.start_ccr_register = TIM_DMABASE_CCR2,
+			.channels_number = 1u /* CCR2 */
+		}
 	},
 };
 
diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx
index 66401c8960..2d7920055f 160000
--- a/platforms/nuttx/NuttX/nuttx
+++ b/platforms/nuttx/NuttX/nuttx
@@ -1 +1 @@
-Subproject commit 66401c8960c5211ded41ae4f60bfb1746a84bd50
+Subproject commit 2d7920055f96f5734d5166e2c58daa16c6dff2f5
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
index fd14284f34..4f91d9ad74 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
@@ -174,11 +174,11 @@ void up_dshot_trigger(void)
 
 			first_motor += motors_number;
 
-			stm32_dmasetup(dshot_handler[timer].dma_handle,
-				       io_timers[timer].base + STM32_GTIM_DMAR_OFFSET,
-				       (uint32_t)(dshot_burst_buffer[timer]),
-				       dshot_handler[timer].dma_size,
-				       DSHOT_DMA_SCR);
+			px4_stm32_dmasetup(dshot_handler[timer].dma_handle,
+					   io_timers[timer].base + STM32_GTIM_DMAR_OFFSET,
+					   (uint32_t)(dshot_burst_buffer[timer]),
+					   dshot_handler[timer].dma_size,
+					   DSHOT_DMA_SCR);
 
 			// Clean UDE flag before DMA is started
 			io_timer_update_dma_req(timer, false);
diff --git a/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h
index 14d7085e4b..7a7f1791bd 100644
--- a/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h
+++ b/platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dshot.h
@@ -32,6 +32,6 @@
  ****************************************************************************/
 #pragma once
 
-
+#define px4_stm32_dmasetup stm32_dmasetup
 #include "../../../stm32_common/include/px4_arch/dshot.h"
 
diff --git a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h
index 14d7085e4b..449ca66b96 100644
--- a/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h
+++ b/platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dshot.h
@@ -33,5 +33,6 @@
 #pragma once
 
 
+#define px4_stm32_dmasetup stm32_dmasetup
 #include "../../../stm32_common/include/px4_arch/dshot.h"
 
diff --git a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h
index 14d7085e4b..449ca66b96 100644
--- a/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h
+++ b/platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dshot.h
@@ -33,5 +33,6 @@
 #pragma once
 
 
+#define px4_stm32_dmasetup stm32_dmasetup
 #include "../../../stm32_common/include/px4_arch/dshot.h"
 
diff --git a/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/dshot.h b/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/dshot.h
index 737fd54ee1..57512cee66 100644
--- a/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/dshot.h
+++ b/platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/dshot.h
@@ -32,5 +32,18 @@
  ****************************************************************************/
 #pragma once
 
+#include <stm32_dma.h>
+
+static inline void px4_stm32_dmasetup(DMA_HANDLE handle, uint32_t paddr, uint32_t maddr,
+				      size_t ntransfers, uint32_t scr)
+{
+	struct stm32_dma_config_s cfg;
+	cfg.paddr = paddr;
+	cfg.maddr = maddr;
+	cfg.cfg1 = scr;
+	cfg.cfg2 = 0;
+	cfg.ndata = ntransfers;
+	stm32_dmasetup(handle, &cfg);
+}
 
 #include "../../../stm32_common/include/px4_arch/dshot.h"