diff --git a/libraries/AP_Notify/RGBLed.cpp b/libraries/AP_Notify/RGBLed.cpp
index e3e43f6bc9..9cbd8ec656 100644
--- a/libraries/AP_Notify/RGBLed.cpp
+++ b/libraries/AP_Notify/RGBLed.cpp
@@ -156,9 +156,15 @@ void RGBLed::update_colours(void)
 
     const uint32_t current_colour_sequence = get_colour_sequence();
 
-    const uint8_t step = (AP_HAL::millis()/100) % 10;
+    uint8_t step = (AP_HAL::millis()/100) % 10;
 
-    const uint8_t colour = current_colour_sequence >> (step*3);
+    // ensure we can't skip a step even with awful timing
+    if (step != last_step) {
+        step = (last_step+1) % 10;
+        last_step = step;
+    }
+
+    const uint8_t colour = (current_colour_sequence >> (step*3)) & 7;
 
     _red_des = (colour & RED) ? brightness : 0;
     _green_des = (colour & GREEN) ? brightness : 0;
diff --git a/libraries/AP_Notify/RGBLed.h b/libraries/AP_Notify/RGBLed.h
index c3629237a0..be35859b3c 100644
--- a/libraries/AP_Notify/RGBLed.h
+++ b/libraries/AP_Notify/RGBLed.h
@@ -102,4 +102,5 @@ private:
     const uint32_t sequence_disarmed_good_gps = DEFINE_COLOUR_SEQUENCE_SLOW(GREEN);
     const uint32_t sequence_disarmed_bad_gps = DEFINE_COLOUR_SEQUENCE_SLOW(BLUE);
 
+    uint8_t last_step;
 };