diff --git a/boards/3dr/ctrl-zero-h7-oem-revg/src/init.c b/boards/3dr/ctrl-zero-h7-oem-revg/src/init.c
index daaace48fb2f..0081dc62dd0d 100755
--- a/boards/3dr/ctrl-zero-h7-oem-revg/src/init.c
+++ b/boards/3dr/ctrl-zero-h7-oem-revg/src/init.c
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/ark/fmu-v6x/src/init.c b/boards/ark/fmu-v6x/src/init.c
index 56c94f805b1a..6c1c2257ede3 100644
--- a/boards/ark/fmu-v6x/src/init.c
+++ b/boards/ark/fmu-v6x/src/init.c
@@ -150,8 +150,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/ark/fpv/src/init.c b/boards/ark/fpv/src/init.c
index 5e321b3b52a8..cbd9382238fc 100644
--- a/boards/ark/fpv/src/init.c
+++ b/boards/ark/fpv/src/init.c
@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/ark/pi6x/src/init.c b/boards/ark/pi6x/src/init.c
index 90bb4fc128be..4dcef47cac21 100644
--- a/boards/ark/pi6x/src/init.c
+++ b/boards/ark/pi6x/src/init.c
@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/av/x-v1/src/init.c b/boards/av/x-v1/src/init.c
index 8e12ee823e41..0f455559f1a1 100644
--- a/boards/av/x-v1/src/init.c
+++ b/boards/av/x-v1/src/init.c
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/cuav/7-nano/src/init.c b/boards/cuav/7-nano/src/init.c
index 3bd2164622de..6ee02bb5298b 100644
--- a/boards/cuav/7-nano/src/init.c
+++ b/boards/cuav/7-nano/src/init.c
@@ -142,8 +142,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/cuav/nora/src/init.c b/boards/cuav/nora/src/init.c
index d4c262b76a8b..a8f3bf4ad3c9 100644
--- a/boards/cuav/nora/src/init.c
+++ b/boards/cuav/nora/src/init.c
@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/cuav/x7pro/src/init.c b/boards/cuav/x7pro/src/init.c
index d4c262b76a8b..a8f3bf4ad3c9 100644
--- a/boards/cuav/x7pro/src/init.c
+++ b/boards/cuav/x7pro/src/init.c
@@ -113,8 +113,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/cubepilot/cubeorange/src/init.c b/boards/cubepilot/cubeorange/src/init.c
index f7e1b3ca7793..9bf3d5f58e52 100644
--- a/boards/cubepilot/cubeorange/src/init.c
+++ b/boards/cubepilot/cubeorange/src/init.c
@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/cubepilot/cubeorangeplus/src/init.c b/boards/cubepilot/cubeorangeplus/src/init.c
index f7e1b3ca7793..9bf3d5f58e52 100644
--- a/boards/cubepilot/cubeorangeplus/src/init.c
+++ b/boards/cubepilot/cubeorangeplus/src/init.c
@@ -104,8 +104,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/cubepilot/cubeyellow/src/init.c b/boards/cubepilot/cubeyellow/src/init.c
index 8ba89724027e..0eb3701c0440 100644
--- a/boards/cubepilot/cubeyellow/src/init.c
+++ b/boards/cubepilot/cubeyellow/src/init.c
@@ -102,8 +102,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/hkust/nxt-dual/src/init.c b/boards/hkust/nxt-dual/src/init.c
index 657c0080c019..cd7d3d216256 100644
--- a/boards/hkust/nxt-dual/src/init.c
+++ b/boards/hkust/nxt-dual/src/init.c
@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/hkust/nxt-v1/src/init.c b/boards/hkust/nxt-v1/src/init.c
index 657c0080c019..cd7d3d216256 100644
--- a/boards/hkust/nxt-v1/src/init.c
+++ b/boards/hkust/nxt-v1/src/init.c
@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/holybro/durandal-v1/src/init.c b/boards/holybro/durandal-v1/src/init.c
index f8dc55d72fdd..283b44842e93 100644
--- a/boards/holybro/durandal-v1/src/init.c
+++ b/boards/holybro/durandal-v1/src/init.c
@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/holybro/kakutef7/src/init.c b/boards/holybro/kakutef7/src/init.c
index 9b8a0140f44b..e4b6bae87ded 100644
--- a/boards/holybro/kakutef7/src/init.c
+++ b/boards/holybro/kakutef7/src/init.c
@@ -124,8 +124,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/holybro/kakuteh7/src/init.c b/boards/holybro/kakuteh7/src/init.c
index cf73735aed27..9c609d4486a6 100644
--- a/boards/holybro/kakuteh7/src/init.c
+++ b/boards/holybro/kakuteh7/src/init.c
@@ -129,8 +129,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/holybro/kakuteh7mini/src/init.c b/boards/holybro/kakuteh7mini/src/init.c
index c8f19df7342d..4691703e8f0f 100644
--- a/boards/holybro/kakuteh7mini/src/init.c
+++ b/boards/holybro/kakuteh7mini/src/init.c
@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/holybro/kakuteh7v2/src/init.c b/boards/holybro/kakuteh7v2/src/init.c
index 7e55cc17704b..bff6e6535ae0 100644
--- a/boards/holybro/kakuteh7v2/src/init.c
+++ b/boards/holybro/kakuteh7v2/src/init.c
@@ -127,8 +127,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/holybro/pix32v5/src/init.c b/boards/holybro/pix32v5/src/init.c
index 2153838a6075..fd2449ee7dfd 100644
--- a/boards/holybro/pix32v5/src/init.c
+++ b/boards/holybro/pix32v5/src/init.c
@@ -143,8 +143,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/matek/h743-mini/src/init.c b/boards/matek/h743-mini/src/init.c
index bb1c6f975c09..9ffa799caf4b 100644
--- a/boards/matek/h743-mini/src/init.c
+++ b/boards/matek/h743-mini/src/init.c
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/matek/h743-slim/src/init.c b/boards/matek/h743-slim/src/init.c
index f78e570c5ab5..899bb1ba4d87 100644
--- a/boards/matek/h743-slim/src/init.c
+++ b/boards/matek/h743-slim/src/init.c
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/matek/h743/src/init.c b/boards/matek/h743/src/init.c
index a2a531882cf7..f24ad5eb7cf7 100644
--- a/boards/matek/h743/src/init.c
+++ b/boards/matek/h743/src/init.c
@@ -94,8 +94,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/micoair/h743-aio/src/init.c b/boards/micoair/h743-aio/src/init.c
index 43f86f902d24..c0e1f9776c35 100644
--- a/boards/micoair/h743-aio/src/init.c
+++ b/boards/micoair/h743-aio/src/init.c
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/micoair/h743-v2/src/init.c b/boards/micoair/h743-v2/src/init.c
index 43f86f902d24..c0e1f9776c35 100644
--- a/boards/micoair/h743-v2/src/init.c
+++ b/boards/micoair/h743-v2/src/init.c
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/micoair/h743/src/init.c b/boards/micoair/h743/src/init.c
index 43f86f902d24..c0e1f9776c35 100644
--- a/boards/micoair/h743/src/init.c
+++ b/boards/micoair/h743/src/init.c
@@ -98,8 +98,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/modalai/fc-v1/src/init.c b/boards/modalai/fc-v1/src/init.c
index beee10b8754e..254d5b339768 100644
--- a/boards/modalai/fc-v1/src/init.c
+++ b/boards/modalai/fc-v1/src/init.c
@@ -141,8 +141,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/modalai/fc-v2/src/init.c b/boards/modalai/fc-v2/src/init.c
index dbc6ec4637d6..651c30107260 100644
--- a/boards/modalai/fc-v2/src/init.c
+++ b/boards/modalai/fc-v2/src/init.c
@@ -139,8 +139,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/mro/ctrl-zero-classic/src/init.c b/boards/mro/ctrl-zero-classic/src/init.c
index daaace48fb2f..0081dc62dd0d 100644
--- a/boards/mro/ctrl-zero-classic/src/init.c
+++ b/boards/mro/ctrl-zero-classic/src/init.c
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/mro/ctrl-zero-f7-oem/src/init.c b/boards/mro/ctrl-zero-f7-oem/src/init.c
index 0b0b07ff124f..af04388898c1 100644
--- a/boards/mro/ctrl-zero-f7-oem/src/init.c
+++ b/boards/mro/ctrl-zero-f7-oem/src/init.c
@@ -132,8 +132,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/mro/ctrl-zero-f7/src/init.c b/boards/mro/ctrl-zero-f7/src/init.c
index 0b0b07ff124f..af04388898c1 100644
--- a/boards/mro/ctrl-zero-f7/src/init.c
+++ b/boards/mro/ctrl-zero-f7/src/init.c
@@ -132,8 +132,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/mro/ctrl-zero-h7-oem/src/init.c b/boards/mro/ctrl-zero-h7-oem/src/init.c
index daaace48fb2f..0081dc62dd0d 100644
--- a/boards/mro/ctrl-zero-h7-oem/src/init.c
+++ b/boards/mro/ctrl-zero-h7-oem/src/init.c
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/mro/ctrl-zero-h7/src/init.c b/boards/mro/ctrl-zero-h7/src/init.c
index daaace48fb2f..0081dc62dd0d 100644
--- a/boards/mro/ctrl-zero-h7/src/init.c
+++ b/boards/mro/ctrl-zero-h7/src/init.c
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/mro/pixracerpro/src/init.c b/boards/mro/pixracerpro/src/init.c
index 481c35c33690..6fe192857ebd 100644
--- a/boards/mro/pixracerpro/src/init.c
+++ b/boards/mro/pixracerpro/src/init.c
@@ -107,8 +107,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/mro/x21-777/src/init.c b/boards/mro/x21-777/src/init.c
index 3f5f00e3775e..dd6edda5175a 100644
--- a/boards/mro/x21-777/src/init.c
+++ b/boards/mro/x21-777/src/init.c
@@ -106,13 +106,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
-	/**
-	 * On resets invoked from system (not boot) insure we establish a low
-	 * output state (discharge the pins) on PWM pins before they become inputs.
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
 	 */
-
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/nxp/fmuk66-e/src/init.c b/boards/nxp/fmuk66-e/src/init.c
index affa94492e1d..e8580466b2d1 100644
--- a/boards/nxp/fmuk66-e/src/init.c
+++ b/boards/nxp/fmuk66-e/src/init.c
@@ -120,8 +120,13 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/nxp/fmuk66-v3/src/init.c b/boards/nxp/fmuk66-v3/src/init.c
index 57e8633459db..d5bc68d52e39 100644
--- a/boards/nxp/fmuk66-v3/src/init.c
+++ b/boards/nxp/fmuk66-v3/src/init.c
@@ -120,8 +120,13 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/nxp/tropic-community/src/init.c b/boards/nxp/tropic-community/src/init.c
index 8e5db86b3739..a9c326f39cf3 100644
--- a/boards/nxp/tropic-community/src/init.c
+++ b/boards/nxp/tropic-community/src/init.c
@@ -134,8 +134,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/px4/fmu-v5/src/init.c b/boards/px4/fmu-v5/src/init.c
index cfec81bae6c4..660a338b2067 100644
--- a/boards/px4/fmu-v5/src/init.c
+++ b/boards/px4/fmu-v5/src/init.c
@@ -143,8 +143,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/px4/fmu-v5x/src/init.cpp b/boards/px4/fmu-v5x/src/init.cpp
index c4debd31ae2c..b743bf13109c 100644
--- a/boards/px4/fmu-v5x/src/init.cpp
+++ b/boards/px4/fmu-v5x/src/init.cpp
@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/px4/fmu-v6c/src/init.c b/boards/px4/fmu-v6c/src/init.c
index 5a853b31b163..ff8d7a8b3c87 100644
--- a/boards/px4/fmu-v6c/src/init.c
+++ b/boards/px4/fmu-v6c/src/init.c
@@ -137,8 +137,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/px4/fmu-v6u/src/init.c b/boards/px4/fmu-v6u/src/init.c
index 156333190905..ce67db50665d 100644
--- a/boards/px4/fmu-v6u/src/init.c
+++ b/boards/px4/fmu-v6u/src/init.c
@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/px4/fmu-v6x/src/init.cpp b/boards/px4/fmu-v6x/src/init.cpp
index 4924120123dd..d914b754975e 100644
--- a/boards/px4/fmu-v6x/src/init.cpp
+++ b/boards/px4/fmu-v6x/src/init.cpp
@@ -145,8 +145,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/px4/fmu-v6xrt/src/init.c b/boards/px4/fmu-v6xrt/src/init.c
index 57ac95ce2054..25faa213f52a 100644
--- a/boards/px4/fmu-v6xrt/src/init.c
+++ b/boards/px4/fmu-v6xrt/src/init.c
@@ -153,8 +153,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_gpio_output(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/siyi/n7/src/init.c b/boards/siyi/n7/src/init.c
index 46cf4ae4aa51..bc8147ece17f 100644
--- a/boards/siyi/n7/src/init.c
+++ b/boards/siyi/n7/src/init.c
@@ -136,8 +136,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/sky-drones/smartap-airlink/src/init.cpp b/boards/sky-drones/smartap-airlink/src/init.cpp
index c4b4c1fa7e08..73a9582f9b94 100644
--- a/boards/sky-drones/smartap-airlink/src/init.cpp
+++ b/boards/sky-drones/smartap-airlink/src/init.cpp
@@ -142,8 +142,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/spracing/h7extreme/src/init.c b/boards/spracing/h7extreme/src/init.c
index b241fb62865b..38e7d0cbe8bb 100644
--- a/boards/spracing/h7extreme/src/init.c
+++ b/boards/spracing/h7extreme/src/init.c
@@ -125,8 +125,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/x-mav/ap-h743v2/src/init.c b/boards/x-mav/ap-h743v2/src/init.c
index 657c0080c019..cd7d3d216256 100644
--- a/boards/x-mav/ap-h743v2/src/init.c
+++ b/boards/x-mav/ap-h743v2/src/init.c
@@ -100,8 +100,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }
 
diff --git a/boards/zeroone/x6/src/init.c b/boards/zeroone/x6/src/init.c
index cd6714af1664..6320b5580ea7 100644
--- a/boards/zeroone/x6/src/init.c
+++ b/boards/zeroone/x6/src/init.c
@@ -144,8 +144,13 @@ __EXPORT void board_on_reset(int status)
 		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
 	}
 
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
 	if (status >= 0) {
-		up_mdelay(6);
+		up_mdelay(100);
 	}
 }