diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index 0756c764a6..69158c5001 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -38,7 +38,7 @@ void RCInput::init()
     chMtxObjectInit(&rcin_mutex);
     _init = true;
     //timeout starts from the initialisation
-    _rcin_timestamp_last_signal = AP_HAL::micros();
+    _rcin_detect_timeout = AP_HAL::micros();
 }
 
 bool RCInput::new_input()
@@ -187,8 +187,8 @@ void RCInput::_timer_tick(void)
         chMtxUnlock(&rcin_mutex);
     }
     //we reset if nothing detected for SIG_DETECT_TIMEOUT_US
-    if (AP_HAL::micros() - _rcin_timestamp_last_signal > SIG_DETECT_TIMEOUT_US) {
-        _rcin_timestamp_last_signal = AP_HAL::micros();
+    if (AP_HAL::micros() - _rcin_detect_timeout > SIG_DETECT_TIMEOUT_US) {
+        _rcin_detect_timeout = AP_HAL::micros();
         sig_reader.invert();
     }
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.h b/libraries/AP_HAL_ChibiOS/RCInput.h
index c80e008df5..49680d1b1d 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.h
+++ b/libraries/AP_HAL_ChibiOS/RCInput.h
@@ -62,6 +62,7 @@ private:
     mutex_t rcin_mutex;
     int16_t _rssi = -1;
     uint32_t _rcin_timestamp_last_signal;
+    uint32_t _rcin_detect_timeout;
     bool _init;
 #ifdef HAL_RCINPUT_WITH_AP_RADIO
     bool _radio_init;