diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index bc6d9186b4..3da1430679 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -229,13 +229,26 @@ int SITL_State::sim_fd(const char *name, const char *arg)
  */
 void SITL_State::_check_rc_input(void)
 {
-    ssize_t size;
+    uint32_t count = 0;
+    while (_read_rc_sitl_input()) {
+        count++;
+    }
+
+    if (count > 100) {
+        ::fprintf(stderr, "Read %u rc inputs\n", count);
+    }
+}
+
+bool SITL_State::_read_rc_sitl_input()
+{
     struct pwm_packet {
         uint16_t pwm[16];
     } pwm_pkt;
 
-    size = _sitl_rc_in.recv(&pwm_pkt, sizeof(pwm_pkt), 0);
+    const ssize_t size = _sitl_rc_in.recv(&pwm_pkt, sizeof(pwm_pkt), 0);
     switch (size) {
+    case -1:
+        return false;
     case 8*2:
     case 16*2: {
         // a packet giving the receiver PWM inputs
@@ -259,9 +272,12 @@ void SITL_State::_check_rc_input(void)
                 pwm_input[i] = pwm;
             }
         }
-        break;
+        return true;
     }
+    default:
+        fprintf(stderr, "Malformed SITL RC input (%li)", size);
     }
+    return false;
 }
 
 /*
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index 20f6fb2065..f10a144980 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -133,6 +133,7 @@ private:
     void _update_airspeed(float airspeed);
     void _update_gps_instance(SITL::SITL::GPSType gps_type, const struct gps_data *d, uint8_t instance);
     void _check_rc_input(void);
+    bool _read_rc_sitl_input();
     void _fdm_input_local(void);
     void _output_to_flightgear(void);
     void _simulator_servos(struct sitl_input &input);