diff --git a/platforms/nuttx/NuttX/nuttx b/platforms/nuttx/NuttX/nuttx
index e48308ad33..dc10293feb 160000
--- a/platforms/nuttx/NuttX/nuttx
+++ b/platforms/nuttx/NuttX/nuttx
@@ -1 +1 @@
-Subproject commit e48308ad338b60ded6b34a4faa85589cf970cec2
+Subproject commit dc10293feb724d50f6a0a64a068b47cb8cdae631
diff --git a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h
index b641d07819..5184a56ec8 100644
--- a/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h
+++ b/platforms/nuttx/src/px4/nxp/k66/include/px4_arch/micro_hal.h
@@ -105,7 +105,9 @@ __BEGIN_DECLS
 #define px4_arch_gpioread(pinset)               kinetis_gpioread(pinset)
 #define px4_arch_gpiowrite(pinset, value)       kinetis_gpiowrite(pinset, value)
 
-/* kinetis_gpiosetevent is not implemented and will need to be added */
+/* kinetis_gpiosetevent is added at PX4 level */
+
+int kinetis_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool event, xcpt_t func, void *arg);
 
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  kinetis_gpiosetevent(pinset,r,f,e,fp,a)
 
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/CMakeLists.txt
index 401bf06ef5..7e06c45115 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/CMakeLists.txt
@@ -36,4 +36,5 @@ px4_add_library(arch_io_pins
 	pwm_servo.c
 	pwm_trigger.c
 	input_capture.c
+	kinetis_pinirq.c
 )
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/kinetis_pinirq.c b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/kinetis_pinirq.c
new file mode 100644
index 0000000000..6141200951
--- /dev/null
+++ b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/kinetis_pinirq.c
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <systemlib/px4_macros.h>
+
+#include <arch/board/board.h>
+
+#include <errno.h>
+
+#include "kinetis.h"
+#include "hardware/kinetis_port.h"
+
+/****************************************************************************
+ * Name: kinetis_gpiosetevent
+ *
+ * Description:
+ *   Sets/clears GPIO based event and interrupt triggers.
+ *
+ * Input Parameters:
+ *  - pinset: gpio pin configuration
+ *  - rising/falling edge: enables
+ *  - event:  generate event when set
+ *  - func:   when non-NULL, generate interrupt
+ *  - arg:    Argument passed to the interrupt callback
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure indicating the
+ *   nature of the failure.
+ *
+ ****************************************************************************/
+#if defined(CONFIG_KINETIS_GPIOIRQ)
+int kinetis_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge,
+			 bool event, xcpt_t func, void *arg)
+{
+	int ret = -ENOSYS;
+
+	if (func == NULL) {
+		kinetis_pinirqdisable(pinset);
+		ret = kinetis_pinirqattach(pinset, NULL, NULL);
+
+	} else {
+		ret = kinetis_pinirqattach(pinset, func, arg);
+		pinset &= ~_PIN_INT_MASK
+			  DEBUGASSERT(port < KINETIS_NPORTS);
+
+		if (risingedge) {
+			pinset |= PIN_INT_RISING;
+		}
+
+		if (fallingedge) {
+			pinset |= PIN_INT_FALLING;
+		}
+
+		kinetis_pinirqenable(pinset);
+	}
+
+	return ret;
+}
+#endif /* CONFIG_KINETIS_GPIOIRQ */