diff --git a/firmware/CHANGELOG.md b/firmware/CHANGELOG.md
index d0b59a8f49..973dcbaea3 100644
--- a/firmware/CHANGELOG.md
+++ b/firmware/CHANGELOG.md
@@ -40,6 +40,7 @@ Release template (copy/paste this for new release):
  - Disable radiator fans after certain vehicle speed #5875
  - LIS2DW12TR on-board Accelerometer support #4870
  - Wheel slip ratio using aux speed inputs #5897
+ - 4 cylinder daihatsu cam sensor decoder #5925
 
 ### Fixed
  - Honda CBR 600 cam decoder #5909
diff --git a/firmware/controllers/trigger/decoders/trigger_misc.cpp b/firmware/controllers/trigger/decoders/trigger_misc.cpp
index 80d2cd0694..ff210e31ee 100644
--- a/firmware/controllers/trigger/decoders/trigger_misc.cpp
+++ b/firmware/controllers/trigger/decoders/trigger_misc.cpp
@@ -100,26 +100,29 @@ void configureFordST170(TriggerWaveform * s) {
 	s->addEventAngle(8 * total, TriggerValue::FALL);
 }
 
-void configureDaihatsu3cyl(TriggerWaveform * s) {
+static void daihatsu(TriggerWaveform * s, int count) {
 	s->initialize(FOUR_STROKE_CAM_SENSOR, SyncEdge::RiseOnly);
 
 	int width = 10;
 
-	s->setTriggerSynchronizationGap(0.125);
-
 	s->addEventAngle(30 - width, TriggerValue::RISE);
 	s->addEventAngle(30, TriggerValue::FALL);
 
+	for (int i = 1;i<=count;i++) {
+		s->addEventAngle(s->getCycleDuration() / count * i - width, TriggerValue::RISE);
+		s->addEventAngle(s->getCycleDuration() / count * i, TriggerValue::FALL);
+	}
+}
 
-	s->addEventAngle(s->getCycleDuration() / 3 - width, TriggerValue::RISE);
-	s->addEventAngle(s->getCycleDuration() / 3, TriggerValue::FALL);
+void configureDaihatsu3cyl(TriggerWaveform * s) {
+	daihatsu(s, 3);
+	s->setTriggerSynchronizationGap(0.125);
+}
 
-	s->addEventAngle(s->getCycleDuration() / 3 * 2 - width, TriggerValue::RISE);
-	s->addEventAngle(s->getCycleDuration() / 3 * 2, TriggerValue::FALL);
-
-	s->addEventAngle(s->getCycleDuration() - width, TriggerValue::RISE);
-	s->addEventAngle(s->getCycleDuration(), TriggerValue::FALL);
 
+void configureDaihatsu4cyl(TriggerWaveform * s) {
+	daihatsu(s, 4);
+	s->setTriggerSynchronizationGap(0.17);
 }
 
 void configureBarra3plus1cam(TriggerWaveform *s) {
diff --git a/firmware/controllers/trigger/decoders/trigger_misc.h b/firmware/controllers/trigger/decoders/trigger_misc.h
index 2b0b6a2e2d..44e9e5a98d 100644
--- a/firmware/controllers/trigger/decoders/trigger_misc.h
+++ b/firmware/controllers/trigger/decoders/trigger_misc.h
@@ -11,6 +11,7 @@ class TriggerWaveform;
 
 void configureFiatIAQ_P8(TriggerWaveform * s);
 void configureDaihatsu3cyl(TriggerWaveform * s);
+void configureDaihatsu4cyl(TriggerWaveform * s);
 void configureFordPip(TriggerWaveform * s);
 void configureFordST170(TriggerWaveform * s);
 void configureTriTach(TriggerWaveform * s);
diff --git a/firmware/controllers/trigger/decoders/trigger_structure.cpp b/firmware/controllers/trigger/decoders/trigger_structure.cpp
index cf599aab6d..527d4bcd3f 100644
--- a/firmware/controllers/trigger/decoders/trigger_structure.cpp
+++ b/firmware/controllers/trigger/decoders/trigger_structure.cpp
@@ -579,10 +579,13 @@ void TriggerWaveform::initializeTriggerWaveform(operation_mode_e triggerOperatio
 		break;
 
 	case trigger_type_e::TT_DAIHATSU_3_CYL:
-	case trigger_type_e::TT_DAIHATSU_4_CYL:
 		configureDaihatsu3cyl(this);
 		break;
 
+	case trigger_type_e::TT_DAIHATSU_4_CYL:
+		configureDaihatsu4cyl(this);
+		break;
+
 	case trigger_type_e::TT_VVT_TOYOTA_3_TOOTH:
 		initializeSkippedToothTrigger(this, 3, 0, triggerOperationMode, SyncEdge::RiseOnly);
 		break;