diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index e5c56c8847..184506c8b4 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -222,6 +222,9 @@ public:
     SRV_Channels servo_channels;
     bool rcout_has_new_data_to_update;
 
+    uint32_t last_esc_raw_command_ms;
+    uint8_t  last_esc_num_channels;
+
     void rcout_init();
     void rcout_init_1Hz();
     void rcout_esc(int16_t *rc, uint8_t num_channels);
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 29c86d6a87..6e8a95685f 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -774,6 +774,10 @@ static void handle_esc_rawcommand(CanardInstance* ins, CanardRxTransfer* transfe
         return;
     }
     periph.rcout_esc(cmd.cmd.data, cmd.cmd.len);
+
+    // Update internal copy for disabling output to ESC when CAN packets are lost
+    periph.last_esc_num_channels = cmd.cmd.len;
+    periph.last_esc_raw_command_ms = AP_HAL::millis();
 }
 
 static void handle_act_command(CanardInstance* ins, CanardRxTransfer* transfer)
diff --git a/Tools/AP_Periph/rc_out.cpp b/Tools/AP_Periph/rc_out.cpp
index 68af8c8813..346a67849c 100644
--- a/Tools/AP_Periph/rc_out.cpp
+++ b/Tools/AP_Periph/rc_out.cpp
@@ -126,6 +126,18 @@ void AP_Periph_FW::rcout_handle_safety_state(uint8_t safety_state)
 
 void AP_Periph_FW::rcout_update()
 {
+    uint32_t now_ms = AP_HAL::millis();
+    const uint16_t esc_timeout_ms = 100U;
+    const bool has_esc_rawcommand_timed_out = (now_ms - last_esc_raw_command_ms) >= esc_timeout_ms;
+    if (last_esc_num_channels > 0 && has_esc_rawcommand_timed_out) {
+        // If we've seen ESCs previously, and a timeout has occurred, then zero the outputs
+        int16_t esc_output[last_esc_num_channels] {};
+        rcout_esc(esc_output, last_esc_num_channels);
+
+        // register that the output has been changed
+        rcout_has_new_data_to_update = true;
+    }
+
     if (!rcout_has_new_data_to_update) {
         return;
     }
@@ -136,7 +148,6 @@ void AP_Periph_FW::rcout_update()
     SRV_Channels::output_ch_all();
     SRV_Channels::push();
 #if HAL_WITH_ESC_TELEM
-    uint32_t now_ms = AP_HAL::millis();
     if (now_ms - last_esc_telem_update_ms >= esc_telem_update_period_ms) {
         last_esc_telem_update_ms = now_ms;
         esc_telem_update();
@@ -145,4 +156,3 @@ void AP_Periph_FW::rcout_update()
 }
 
 #endif // HAL_PERIPH_ENABLE_RC_OUT
-