diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
index 96dd678ca0..4f9304e7b8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
@@ -99,9 +99,13 @@ PB10 USART3_TX USART3
 PA0 UART4_TX UART4 NODMA
 PA1 UART4_RX UART4 NODMA
 
-# USART6, RX only for RCIN
-PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
-PC6 USART6_TX USART6 NODMA LOW
+# RC input defaults to timer capture
+PC7 TIM8_CH2 TIM8 RCININT PULLDOWN
+
+# alternative config using USART for protocols
+# like FPort
+PC7 USART6_RX USART6 NODMA ALT(1)
+PC6 USART6_TX USART6 NODMA
 
 # UART7 USED BY ESC FROM ORIGINAL DESIGN
 PE7 UART7_RX UART7
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat
index b5c3998a4c..85c917350c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat
@@ -99,9 +99,13 @@ PB10 USART3_TX USART3
 PA0 UART4_TX UART4 NODMA
 PA1 UART4_RX UART4 NODMA
 
-# USART6, RX only for RCIN
-PC7 TIM8_CH2 TIM8 RCININT FLOAT LOW
-PC6 USART6_TX USART6 NODMA LOW
+# RC input defaults to timer capture
+PC7 TIM8_CH2 TIM8 RCININT PULLDOWN
+PC6 USART6_TX USART6 NODMA
+
+# alt config to allow RCIN on UART for bi-directional
+# protocols like FPort
+PC7 USART6_RX USART6 NODMA ALT(1)
 
 # UART7, RX only for ESC Telemetry
 PE7 UART7_RX UART7
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
index 3acae22107..9e478554ec 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
@@ -48,7 +48,7 @@ STM32_VDD 330U
 I2C_ORDER I2C1 I2C2
 
 # order of UARTs
-UART_ORDER OTG1 USART3 USART1 EMPTY UART4 UART5 USART6
+UART_ORDER OTG1 USART3 USART1 EMPTY UART4 UART5 USART6 USART2
 
 #################################################
 ###             PIN DEFINITIONS               ###
@@ -57,11 +57,13 @@ UART_ORDER OTG1 USART3 USART1 EMPTY UART4 UART5 USART6
 PA0 UART4_TX UART4
 PA1 UART4_RX UART4
 
-# USART 2 is used for RC Input
-# PA2 USART2_TX USART2
-# PA3 USART2_RX USART2
+# default to timer for RC input
 PA3 TIM2_CH4 TIM2 RCININT FLOAT LOW
 
+# alternative using USART2
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA ALT(1)
+
 PA4 MPU_CS CS
 
 # IMU SPI
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
index fb3c6a05b0..91a42c2ebc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
@@ -28,7 +28,7 @@ STM32_VDD 330U
 I2C_ORDER I2C1
 
 # order of UARTs (and USB)
-UART_ORDER OTG1 USART1 USART3 UART4 UART5
+UART_ORDER OTG1 USART1 USART3 UART4 UART5 USART2
 
 # LEDs
 PB9 LED_BLUE OUTPUT LOW GPIO(0)
@@ -88,12 +88,12 @@ define BOARD_RSSI_ANA_PIN 9
 PA9 USART1_TX USART1
 PA10 USART1_RX USART1
 
-# USART2 (RCIN)
-#PA2 USART3_TX USART3
-#PA3 USART3_RX USART3
+# RC input using timer
+PA3 TIM9_CH2 TIM9 RCININT PULLDOWN
 
-# rcinput 
-PA3 TIM9_CH2 TIM9 RCININT FLOAT LOW
+# alternative RC input using UART
+PA2 USART2_TX USART2 NODMA
+PA3 USART2_RX USART2 NODMA ALT(1)
 
 # USART3
 PC10 USART3_TX USART3
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
index 354679bbbe..07bfd59503 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/OMNIBUSF7V2/hwdef.dat
@@ -34,7 +34,7 @@ STM32_VDD 330U
 I2C_ORDER I2C2
 
 # order of UARTs (and USB)
-UART_ORDER OTG1 USART6 USART1 USART3
+UART_ORDER OTG1 USART6 USART1 USART3 USART2
 
 PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1
@@ -94,8 +94,11 @@ IMU Invensense SPI:mpu6500 ROTATION_YAW_90
 PA10 USART1_RX USART1
 PA9  USART1_TX USART1
 
-# USART2 for RC input, RX only
-PA3 TIM9_CH2 TIM9 RCININT FLOAT LOW
+# RC input using timer by default
+PA3 TIM9_CH2 TIM9 RCININT PULLDOWN
+
+# alternative RC input using USART2
+PA3 USART2_RX USART2 NODMA ALT(1)
 
 # USART3
 PD9 USART3_RX USART3
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
index 9e2f770f59..7af66bc39d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mindpx-v2/hwdef.dat
@@ -36,7 +36,7 @@ FLASH_RESERVE_END_KB 0
 I2C_ORDER I2C1 I2C2
 
 # order of UARTs (and USB)
-UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7
+UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART7 USART6
 
 # UART4 is GPS
 PA0 UART4_TX UART4
@@ -110,7 +110,12 @@ PC2 BAT_VOLT_SENS ADC1
 PC3 FMU_ADC1 ADC1
 PC4 FMU_ADC2 ADC1
 PC5 FMU_ADC3 ADC1
-PC6 TIM8_CH1 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC
+
+# RC input default to timer
+PC6 TIM8_CH1 TIM8 RCININT PULLDOWN
+
+# alternative RC input using USART6
+PC6 USART6_TX USART6 NODMA ALT(1)
 
 PC8 SDIO_D0 SDIO
 PC9 SDIO_D1 SDIO
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
index 0d0827d7f8..2b0832c272 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mini-pix/hwdef.dat
@@ -28,7 +28,7 @@ STM32_VDD 330U
 I2C_ORDER I2C2 I2C1
 
 # order of UARTs (and USB)
-UART_ORDER OTG1 UART4 USART3 USART2
+UART_ORDER OTG1 UART4 USART3 USART2 USART6
 
 # UART4 serial GPS
 PA0 UART4_TX UART4
@@ -74,7 +74,12 @@ PC2 LPS22HB_CS CS
 PC3 LED_SAFETY OUTPUT
 PC4 SAFETY_IN INPUT
 
-PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW # also USART6_RX for serial RC
+# default to RCIN using timer capture
+PC7 TIM8_CH2 TIM8 RCININT PULLDOWN
+
+# alternative using USART6
+PC7 USART6_RX USART6 NODMA ALT(1)
+
 PC8 SDIO_D0 SDIO
 PC9 SDIO_D1 SDIO
 PC10 SDIO_D2 SDIO