diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 2442acd6b0..4c34d853fc 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1309,7 +1309,7 @@ Sensors::rc_poll()
 		}
 
 		/* check for failsafe */
-		if (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr))
+		if (rc_input.rc_failsafe || ((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr))
 			|| ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))) {
 			/* do not publish manual control setpoints when there are none */
 			return;