diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 4e9d24a265..865052aae6 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -275,8 +275,10 @@ void SITL_State::_fdm_input_local(void)
         sitl_model->fill_fdm(_sitl->state);
         _sitl->update_rate_hz = sitl_model->get_rate_hz();
 
-        for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
-            pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
+        if (_sitl->rc_fail == 0) {
+            for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
+                pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
+            }
         }
     }