diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index ea55e7140f08a9..d972bffaddea9d 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -251,6 +251,8 @@ static void main_loop()
 
     g_callbacks->setup();
 
+    peripheral_io_output_enable();
+
 #if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
     utilInstance.apply_persistent_params();
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
index c91e68930f547f..52fe1a8486d9c9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.c
@@ -350,6 +350,22 @@ void peripheral_power_enable(void)
 #endif
 }
 
+/*
+  PWM OUTPUT ENABLE control.
+  It can be used to prevent PWM output from being output during initialization.
+*/
+void peripheral_io_output_enable(void)
+{
+#if defined(HAL_GPIO_PIN_PWM_OE) || defined(HAL_GPIO_PIN_PWM_OE2)
+#ifdef HAL_GPIO_PIN_PWM_OE
+    palWriteLine(HAL_GPIO_PIN_PWM_OE, 1);
+#endif
+#ifdef HAL_GPIO_PIN_PWM_OE2
+    palWriteLine(HAL_GPIO_PIN_PWM_OE2, 1);
+#endif
+#endif
+}
+
 #if defined(STM32F7) || defined(STM32H7) || defined(STM32F4) || defined(STM32F3) || defined(STM32G4) || defined(STM32L4) || defined(STM32L4PLUS)
 /*
   read mode of a pin. This allows a pin config to be read, changed and
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
index 828ceed09ca69a..2d51ee6afb2588 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
@@ -98,6 +98,9 @@ void set_fast_reboot(enum rtc_boot_magic v);
 // enable peripheral power if needed
 void peripheral_power_enable(void);
 
+// enable peripheral io output if needed
+void peripheral_io_output_enable(void);
+
 // initialise allocation subsystem
 void malloc_init(void);