diff --git a/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp b/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
index c3e310a75f..bb15c05126 100644
--- a/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
@@ -75,7 +75,8 @@ void AP_Proximity_RangeFinder::update(void)
     }
 
     // check for timeout and set health status
-    if ((_last_update_ms == 0) || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) {
+    if ((_last_update_ms == 0 || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) &&
+        (_last_upward_update_ms == 0 || (now - _last_upward_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS))) {
         set_status(AP_Proximity::Status::NoData);
     } else {
         set_status(AP_Proximity::Status::Good);