diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index a0239642abb..acc427ee48e 100644
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -212,27 +212,27 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
 }
 
 static void timerHardwareOverride(timerHardware_t * timer) {
-    // Never modify a beeper timer — beeperPwmInit() must find TIM_USE_BEEPER intact
-    if (timer->usageFlags & TIM_USE_BEEPER) {
-        return;
-    }
     switch (timerOverrides(timer2id(timer->tim))->outputMode) {
         case OUTPUT_MODE_MOTORS:
-            timer->usageFlags &= ~(TIM_USE_SERVO|TIM_USE_LED);
+            timer->usageFlags &= ~(TIM_USE_SERVO|TIM_USE_LED|TIM_USE_BEEPER);
             timer->usageFlags |= TIM_USE_MOTOR;
             break;
         case OUTPUT_MODE_SERVOS:
-            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_LED);
+            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_LED|TIM_USE_BEEPER);
             timer->usageFlags |= TIM_USE_SERVO;
             break;
         case OUTPUT_MODE_LED:
-            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO);
+            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO|TIM_USE_BEEPER);
             timer->usageFlags |= TIM_USE_LED;
             break;
         case OUTPUT_MODE_PINIO:
-            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO|TIM_USE_LED);
+            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO|TIM_USE_LED|TIM_USE_BEEPER);
             timer->usageFlags |= TIM_USE_PINIO;
             break;
+        case OUTPUT_MODE_BEEPER:
+            timer->usageFlags &= ~(TIM_USE_MOTOR|TIM_USE_SERVO|TIM_USE_LED|TIM_USE_PINIO);
+            timer->usageFlags |= TIM_USE_BEEPER;
+            break;
     }
 }
 
diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 4a6722046c5..afe9301f7e7 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -88,11 +88,9 @@ typedef struct {
     const timerHardware_t * timServos[MAX_PWM_OUTPUTS];
 } timMotorServoHardware_t;
 
-// Output assignment types for MSP2_INAV_OUTPUT_ASSIGNMENT response
-// LED outputs are not reported here; they are already identified by TIM_USE_LED
-// in the MSP2_INAV_OUTPUT_MAPPING_EXT2 usageFlags response.
-#define OUTPUT_ASSIGNMENT_TYPE_MOTOR 1
-#define OUTPUT_ASSIGNMENT_TYPE_SERVO 2
+// MSP2_INAV_OUTPUT_ASSIGNMENT type byte: bit index of the TIM_USE_* flag.
+// Matches the JavaScript TIM_USE_* constants in outputMapping.js (which are bit indices).
+// Use __builtin_ctz(TIM_USE_x) to derive these from the bit-mask definitions in timer.h.
 #endif // SITL_BUILD
 
 bool pwmMotorAndServoInit(void);
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index a4efb9e3008..a0e983fcf19 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -764,7 +764,7 @@ void pwmWriteBeeper(bool onoffBeep)
     }
 }
 
-void beeperPwmInit(ioTag_t tag, uint16_t frequency)
+bool beeperPwmInit(ioTag_t tag, uint16_t frequency)
 {
     beeperPwm = NULL;
 
@@ -774,14 +774,17 @@ void beeperPwmInit(ioTag_t tag, uint16_t frequency)
         // Attempt to allocate TCH
         TCH_t * tch = timerGetTCH(timHw);
         if (tch == NULL) {
-            return;
+            return false;
         }
 
         beeperPwm = &beeperPwmPort;
         beeperFrequency = frequency;
         IOConfigGPIOAF(IOGetByTag(tag), IOCFG_AF_PP, timHw->alternateFunction);
         pwmOutConfigTimer(beeperPwm, tch, PWM_TIMER_HZ, 1000000 / beeperFrequency, (1000000 / beeperFrequency) / 2);
+        return true;
     }
+
+    return false;
 }
 
 #endif
diff --git a/src/main/drivers/pwm_output.h b/src/main/drivers/pwm_output.h
index 1dc644f7f4e..0aba4b142ef 100644
--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@@ -59,7 +59,7 @@ bool pwmMotorConfig(const struct timerHardware_s *timerHardware, uint8_t motorIn
 void pwmServoPreconfigure(void);
 bool pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse, bool enableOutput);
 void pwmWriteBeeper(bool onoffBeep);
-void beeperPwmInit(ioTag_t tag, uint16_t frequency);
+bool beeperPwmInit(ioTag_t tag, uint16_t frequency);
 
 void sendDShotCommand(dshotCommands_e cmd);
 void initDShotCommands(void);
diff --git a/src/main/drivers/sound_beeper.c b/src/main/drivers/sound_beeper.c
index bc76117d180..19ae57ae97b 100644
--- a/src/main/drivers/sound_beeper.c
+++ b/src/main/drivers/sound_beeper.c
@@ -23,6 +23,7 @@
 #include "drivers/time.h"
 #include "drivers/io.h"
 
+#include "common/log.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_mapping.h"
 #include "drivers/pwm_output.h"
@@ -78,13 +79,41 @@ void beeperInit(const beeperDevConfig_t *config)
 #if !defined(BEEPER)
     UNUSED(config);
 #else
+    // Runtime output assignment: scan for any pad explicitly set to OUTPUT_MODE_BEEPER.
+    // pwmBuildTimerOutputList() runs before beeperInit(), so TIM_USE_BEEPER is already
+    // set on the runtime-assigned pad by the time we get here.
+    for (int idx = 0; idx < timerHardwareCount; idx++) {
+        const timerHardware_t *timHw = &timerHardware[idx];
+        if (timerOverrides(timer2id(timHw->tim))->outputMode == OUTPUT_MODE_BEEPER) {
+            if (!beeperPwmInit(timHw->tag, BEEPER_PWM_FREQUENCY)) {
+                LOG_ERROR(PWM, "Beeper PWM init failed on assigned pad, beeper disabled");
+                return;
+            }
+            beeperConfigMutable()->pwmMode = true;
+            systemBeep(false);
+            return;
+        }
+    }
+
+    // Skip compile-time beeper pad if the user has overridden it to another function.
+    for (int idx = 0; idx < timerHardwareCount; idx++) {
+        if (timerHardware[idx].tag == config->ioTag) {
+            if (!(timerHardware[idx].usageFlags & TIM_USE_BEEPER)) {
+                return;
+            }
+            break;
+        }
+    }
+
     beeperIO = IOGetByTag(config->ioTag);
     beeperInverted = config->isInverted;
 
     if (beeperIO) {
         IOInit(beeperIO, OWNER_BEEPER, RESOURCE_OUTPUT, 0);
         if (beeperConfig()->pwmMode) {
-            beeperPwmInit(config->ioTag, BEEPER_PWM_FREQUENCY);
+            if (!beeperPwmInit(config->ioTag, BEEPER_PWM_FREQUENCY)) {
+                LOG_ERROR(PWM, "Beeper PWM init failed on compile-time pad, beeper disabled");
+            }
         } else {
             IOConfigGPIO(beeperIO, config->isOD ? IOCFG_OUT_OD : IOCFG_OUT_PP);
         }
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 27713297c86..8ed295c2d3f 100644
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -177,6 +177,7 @@ static const char * outputModeNames[] = {
     "SERVOS",
     "LED",
     "PINIO",
+    "BEEPER",
     NULL
 };
 
@@ -3225,6 +3226,8 @@ static void cliTimerOutputMode(char *cmdline)
                     mode = OUTPUT_MODE_LED;
                 } else if(!sl_strcasecmp("PINIO", tok)) {
                     mode = OUTPUT_MODE_PINIO;
+                } else if(!sl_strcasecmp("BEEPER", tok)) {
+                    mode = OUTPUT_MODE_BEEPER;
                 } else {
                     cliShowParseError();
                     return;
@@ -5037,7 +5040,7 @@ const clicmd_t cmdTable[] = {
 #ifdef USE_OSD
     CLI_COMMAND_DEF("osd_layout", "get or set the layout of OSD items", "[<layout> [<item> [<col> <row> [<visible>]]]]", cliOsdLayout),
 #endif
-    CLI_COMMAND_DEF("timer_output_mode", "get or set the outputmode for a given timer.",  "[<timer> [<AUTO|MOTORS|SERVOS|LED|PINIO>]]", cliTimerOutputMode),
+    CLI_COMMAND_DEF("timer_output_mode", "get or set the outputmode for a given timer.",  "[<timer> [<AUTO|MOTORS|SERVOS|LED|PINIO|BEEPER>]]", cliTimerOutputMode),
 };
 
 static void cliHelp(char *cmdline)
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index e5cfe7e81e8..50ddc2d9f09 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -1812,14 +1812,22 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             const timMotorServoHardware_t *hw = pwmGetOutputAssignment();
             for (int m = 0; m < hw->maxTimMotorCount; m++) {
                 sbufWriteU8(dst, (uint8_t)(hw->timMotors[m] - timerHardware));
-                sbufWriteU8(dst, OUTPUT_ASSIGNMENT_TYPE_MOTOR);
+                sbufWriteU8(dst, __builtin_ctz(TIM_USE_MOTOR));
                 sbufWriteU8(dst, (uint8_t)(m + 1));
             }
             for (int s = 0; s < hw->maxTimServoCount; s++) {
                 sbufWriteU8(dst, (uint8_t)(hw->timServos[s] - timerHardware));
-                sbufWriteU8(dst, OUTPUT_ASSIGNMENT_TYPE_SERVO);
+                sbufWriteU8(dst, __builtin_ctz(TIM_USE_SERVO));
                 sbufWriteU8(dst, (uint8_t)(s + 1));
             }
+            for (int idx = 0; idx < timerHardwareCount; idx++) {
+                if (timerOverrides(timer2id(timerHardware[idx].tim))->outputMode == OUTPUT_MODE_BEEPER) {
+                    sbufWriteU8(dst, (uint8_t)idx);
+                    sbufWriteU8(dst, __builtin_ctz(TIM_USE_BEEPER));
+                    sbufWriteU8(dst, 1);
+                    break;
+                }
+            }
         }
         break;
 #endif
@@ -4911,14 +4919,22 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
 
             for (int m = 0; m < tempOut.maxTimMotorCount; m++) {
                 sbufWriteU8(dst, (uint8_t)(tempOut.timMotors[m] - timerHardware));
-                sbufWriteU8(dst, OUTPUT_ASSIGNMENT_TYPE_MOTOR);
+                sbufWriteU8(dst, __builtin_ctz(TIM_USE_MOTOR));
                 sbufWriteU8(dst, (uint8_t)(m + 1));
             }
             for (int s = 0; s < tempOut.maxTimServoCount; s++) {
                 sbufWriteU8(dst, (uint8_t)(tempOut.timServos[s] - timerHardware));
-                sbufWriteU8(dst, OUTPUT_ASSIGNMENT_TYPE_SERVO);
+                sbufWriteU8(dst, __builtin_ctz(TIM_USE_SERVO));
                 sbufWriteU8(dst, (uint8_t)(s + 1));
             }
+            for (int idx = 0; idx < timerHardwareCount; idx++) {
+                if (proposedModes[timer2id(timerHardware[idx].tim)] == OUTPUT_MODE_BEEPER) {
+                    sbufWriteU8(dst, (uint8_t)idx);
+                    sbufWriteU8(dst, __builtin_ctz(TIM_USE_BEEPER));
+                    sbufWriteU8(dst, 1);
+                    break;
+                }
+            }
             *ret = MSP_RESULT_ACK;
         }
         break;
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index 6c4370d4176..91f40406e6f 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -49,7 +49,8 @@ typedef enum {
     OUTPUT_MODE_MOTORS,
     OUTPUT_MODE_SERVOS,
     OUTPUT_MODE_LED,
-    OUTPUT_MODE_PINIO
+    OUTPUT_MODE_PINIO,
+    OUTPUT_MODE_BEEPER
 } outputMode_e;
 
 typedef struct motorAxisCorrectionLimits_s {