diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 9487930a7a..97d07e8438 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -359,7 +359,7 @@ bool RC_Channel::has_override() const
     }
 
     const float override_timeout_ms = rc().override_timeout_ms();
-    return is_positive(override_timeout_ms) && ((AP_HAL::millis() - last_override_time) < (uint32_t)override_timeout_ms);
+    return (override_timeout_ms < 0) || (is_positive(override_timeout_ms) && ((AP_HAL::millis() - last_override_time) < (uint32_t)override_timeout_ms));
 }
 
 /*