diff --git a/src/main/target/NEXUSX/config.c b/src/main/target/NEXUSX/config.c
index 09970cef5c1..0d5b4a88276 100644
--- a/src/main/target/NEXUSX/config.c
+++ b/src/main/target/NEXUSX/config.c
@@ -36,4 +36,7 @@
 void targetConfiguration(void)
 {
   pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+
+  // default "ESC" pin to be a motor
+  timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;
 }
diff --git a/src/main/target/NEXUSX/target.c b/src/main/target/NEXUSX/target.c
index 3589a56c224..799dc762322 100644
--- a/src/main/target/NEXUSX/target.c
+++ b/src/main/target/NEXUSX/target.c
@@ -33,8 +33,8 @@ timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM1, CH2, PA9,   TIM_USE_OUTPUT_AUTO, 0, 0),   // labelled "ESC"
 
-    DEF_TIM(TIM5, CH3, PA2,   TIM_USE_OUTPUT_AUTO, 0, 0),   // labelled "RPM", clashes with UART2 TX
-    DEF_TIM(TIM5, CH4, PA3,   TIM_USE_OUTPUT_AUTO, 0, 0),   // labelled "TLM", clashes with UART2 RX
+    DEF_TIM(TIM2, CH3, PA2,   TIM_USE_OUTPUT_AUTO, 0, 0),   // labelled "RPM", clashes with UART2 TX
+    DEF_TIM(TIM2, CH4, PA3,   TIM_USE_OUTPUT_AUTO, 0, 0),   // labelled "TLM", clashes with UART2 RX
 
     DEF_TIM(TIM4, CH1, PB6,   TIM_USE_OUTPUT_AUTO, 0, 0),   // labelled "AUX", clashes with UART1 TX and I2C1 SCL
     DEF_TIM(TIM4, CH2, PB7,   TIM_USE_OUTPUT_AUTO, 0, 0),   // labelled "SBUS", clashes with UART1 RX and I2C1 SDA
diff --git a/src/main/target/NEXUSX/target.h b/src/main/target/NEXUSX/target.h
index 8270ea4ac68..def2ada57b0 100644
--- a/src/main/target/NEXUSX/target.h
+++ b/src/main/target/NEXUSX/target.h
@@ -151,3 +151,5 @@
 #define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 #define USE_SMARTPORT_MASTER // no internal current sensor, enable SMARTPORT_MASTER so external ones can be used
+
+#define USE_DSHOT_DMAR