diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
index 0179a993e6..1767f92857 100755
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diff --git a/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
index 0179a993e6..1767f92857 100755
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diff --git a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/boards/holybro/pix32v5/extras/px4_io-v2_default.bin b/boards/holybro/pix32v5/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/boards/mro/x21-777/extras/px4_io-v2_default.bin b/boards/mro/x21-777/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/boards/px4/fmu-v2/extras/px4_io-v2_default.bin b/boards/px4/fmu-v2/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
index cef251c5f5..577ee46036 100755
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diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 7927c623e5..9ccdbc0d4e 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -202,6 +202,8 @@ private:
 
 	hrt_abstime             _last_status_publish{0};
 
+	uint16_t 		_rc_valid_update_count{0};
+
 	bool			_param_update_force{true};	///< force a parameter update
 	bool			_timer_rates_configured{false};
 
@@ -1198,6 +1200,14 @@ int PX4IO::io_get_status()
 
 int PX4IO::io_publish_raw_rc()
 {
+	const uint16_t rc_valid_update_count = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_FRAME_COUNT);
+	const bool rc_updated = (rc_valid_update_count != _rc_valid_update_count);
+	_rc_valid_update_count = rc_valid_update_count;
+
+	if (!rc_updated) {
+		return 0;
+	}
+
 	input_rc_s input_rc{};
 	input_rc.timestamp_last_signal = hrt_absolute_time();
 
@@ -1306,8 +1316,7 @@ int PX4IO::io_publish_raw_rc()
 		input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
 	}
 
-	if ((input_rc.channel_count > 0) && !input_rc.rc_lost && !input_rc.rc_failsafe
-	    && (input_rc.input_source != input_rc_s::RC_INPUT_SOURCE_UNKNOWN)) {
+	if (input_rc.input_source != input_rc_s::RC_INPUT_SOURCE_UNKNOWN) {
 
 		_to_input_rc.publish(input_rc);
 	}
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 7d22df983c..803fbe6e6c 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -369,6 +369,8 @@ controls_tick()
 		} else {
 			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
 		}
+
+		r_page_raw_rc_input[PX4IO_P_RAW_FRAME_COUNT]++;
 	}
 
 	/*