diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index baeabe9557..3db585ccbe 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -999,9 +999,9 @@ void AP_UAVCAN::handle_ESC_status(AP_UAVCAN* ap_uavcan, uint8_t node_id, const E
 
     ap_uavcan->update_rpm(esc_index, cb.msg->rpm);
     ap_uavcan->update_telem_data(esc_index, t,
-        AP_ESC_Telem_Backend::TelemetryType::CURRENT
-            | AP_ESC_Telem_Backend::TelemetryType::VOLTAGE
-            | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
+        (isnanf(cb.msg->current) ? 0 : AP_ESC_Telem_Backend::TelemetryType::CURRENT)
+            | (isnanf(cb.msg->voltage) ? 0 : AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)
+            | (isnanf(cb.msg->temperature) ? 0 : AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE));
 #endif
 }