diff --git a/boards/px4/fmu-v5/ctrlalloc.cmake b/boards/px4/fmu-v5/ctrlalloc.cmake
index 9cbd271ac4..b143096be2 100644
--- a/boards/px4/fmu-v5/ctrlalloc.cmake
+++ b/boards/px4/fmu-v5/ctrlalloc.cmake
@@ -6,6 +6,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
diff --git a/boards/px4/fmu-v5/debug.cmake b/boards/px4/fmu-v5/debug.cmake
index 53c81f04ac..2e81d0eafa 100644
--- a/boards/px4/fmu-v5/debug.cmake
+++ b/boards/px4/fmu-v5/debug.cmake
@@ -7,6 +7,7 @@ px4_add_board(
 	IO px4_io-v2_default
 	TESTING
 	#UAVCAN_INTERFACES 2
+	#UAVCAN_TIMER_OVERRIDE 6
 	CONSTRAINED_FLASH
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
diff --git a/boards/px4/fmu-v5/fixedwing.cmake b/boards/px4/fmu-v5/fixedwing.cmake
index 3d57f56542..3496368654 100644
--- a/boards/px4/fmu-v5/fixedwing.cmake
+++ b/boards/px4/fmu-v5/fixedwing.cmake
@@ -6,6 +6,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
diff --git a/boards/px4/fmu-v5/multicopter.cmake b/boards/px4/fmu-v5/multicopter.cmake
index c5a0d2ff7c..46972e45dd 100644
--- a/boards/px4/fmu-v5/multicopter.cmake
+++ b/boards/px4/fmu-v5/multicopter.cmake
@@ -6,6 +6,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
diff --git a/boards/px4/fmu-v5/optimized.cmake b/boards/px4/fmu-v5/optimized.cmake
index 09196b31d7..10ffa020b7 100644
--- a/boards/px4/fmu-v5/optimized.cmake
+++ b/boards/px4/fmu-v5/optimized.cmake
@@ -12,6 +12,7 @@ px4_add_board(
 	EXTERNAL_METADATA
 	TESTING
 	#UAVCAN_INTERFACES 2
+	#UAVCAN_TIMER_OVERRIDE 6
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
diff --git a/boards/px4/fmu-v5/rover.cmake b/boards/px4/fmu-v5/rover.cmake
index a8310df0ec..19c2fe751b 100644
--- a/boards/px4/fmu-v5/rover.cmake
+++ b/boards/px4/fmu-v5/rover.cmake
@@ -6,6 +6,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake
index 4b3519b53a..ec2742e76f 100644
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -6,6 +6,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake
index 471438a3e2..e1a3e1cd53 100644
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -7,6 +7,7 @@ px4_add_board(
 	IO px4_io-v2_default
 	TESTING
 	#UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	CONSTRAINED_FLASH
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
diff --git a/boards/px4/fmu-v5/test.cmake b/boards/px4/fmu-v5/test.cmake
index 42351de686..b1886aaff5 100644
--- a/boards/px4/fmu-v5/test.cmake
+++ b/boards/px4/fmu-v5/test.cmake
@@ -7,6 +7,7 @@ px4_add_board(
 	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
diff --git a/boards/px4/fmu-v5/uavcanv0periph.cmake b/boards/px4/fmu-v5/uavcanv0periph.cmake
index 9eed199e15..4c67869988 100644
--- a/boards/px4/fmu-v5/uavcanv0periph.cmake
+++ b/boards/px4/fmu-v5/uavcanv0periph.cmake
@@ -6,6 +6,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	UAVCAN_PERIPHERALS
 		cuav_can-gps-v1_default
 	SERIAL_PORTS
diff --git a/boards/px4/fmu-v5/uavcanv1.cmake b/boards/px4/fmu-v5/uavcanv1.cmake
index 87cfef5abb..c719e06e9b 100644
--- a/boards/px4/fmu-v5/uavcanv1.cmake
+++ b/boards/px4/fmu-v5/uavcanv1.cmake
@@ -6,6 +6,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	IO px4_io-v2_default
 	UAVCAN_INTERFACES 2
+	UAVCAN_TIMER_OVERRIDE 6
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1