diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index ea71cdb239..cf7da982bc 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -135,7 +135,7 @@ bool RC_Channel::update(void)
 {
     if (has_override() && !rc().ignore_overrides()) {
         radio_in = override_value;
-    } else if (!rc().ignore_receiver()) {
+    } else if (rc().has_had_rc_receiver() && !rc().ignore_receiver()) {
         radio_in = hal.rcin->read(ch_in);
     } else {
         return false;
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 9ba7dd34b6..e825e19e91 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -401,7 +401,10 @@ public:
     float override_timeout_ms() const {
         return _override_timeout.get() * 1e3f;
     }
-    
+
+    // returns true if we have had a direct detach RC reciever, does not include overrides
+    bool has_had_rc_receiver() const { return _has_had_rc_receiver; }
+
     /*
       get the RC input PWM value given a channel number.  Note that
       channel numbers start at 1, as this API is designed for use in
@@ -435,6 +438,7 @@ private:
 
     uint32_t last_update_ms;
     bool has_new_overrides;
+    bool _has_had_rc_receiver; // true if we have had a direct detach RC reciever, does not include overrides
 
     AP_Float _override_timeout;
     AP_Int32  _options;
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
index 0f87ce7298..b70eccdf42 100644
--- a/libraries/RC_Channel/RC_Channels.cpp
+++ b/libraries/RC_Channel/RC_Channels.cpp
@@ -68,7 +68,9 @@ uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
 // update all the input channels
 bool RC_Channels::read_input(void)
 {
-    if (!hal.rcin->new_input() && !has_new_overrides) {
+    if (hal.rcin->new_input()) {
+        _has_had_rc_receiver = true;
+    } else if (!has_new_overrides) {
         return false;
     }