diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 474c069ae0..0efc3ec17b 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1101,7 +1101,8 @@ void AP_Periph_FW::processTx(void)
 #endif
         // push message with 1s timeout
         bool sent = true;
-        const uint64_t deadline = AP_HAL::micros64() + 1000000;
+        const uint64_t now_us = AP_HAL::micros64();
+        const uint64_t deadline = now_us + 1000000U;
         // try sending to all interfaces
         for (auto &_ins : instances) {
             if (_ins.iface == NULL) {
@@ -1118,7 +1119,17 @@ void AP_Periph_FW::processTx(void)
             }
     #endif
             if (_ins.iface->send(txmsg, deadline, 0) <= 0) {
-                sent = false;
+                /*
+                  We were not able to queue the frame for
+                  sending. Only mark the send as failing if the
+                  interface is active. We consider an interface as
+                  active if it has had a successful transmit in the
+                  last 2 seconds
+                 */
+                const auto *stats = _ins.iface->get_statistics();
+                if (stats == nullptr || now_us - stats->last_transmit_us < 2000000UL) {
+                    sent = false;
+                }
             }
         }
         if (sent) {