diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
index 78f81c12bc..8dd738e9db 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
@@ -300,6 +300,8 @@ void AP_IOMCU_FW::rcin_update()
         hal.rcout->set_default_rate(reg_setup.pwm_defaultrate);
     }
 
+    bool old_override = override_active;
+
     // check for active override channel
     if (mixing.enabled &&
         mixing.rc_chan_override > 0 &&
@@ -309,6 +311,12 @@ void AP_IOMCU_FW::rcin_update()
     } else {
         override_active = false;
     }
+    if (old_override != override_active) {
+        if (override_active) {
+            fill_failsafe_pwm();
+        }
+        chEvtSignal(thread_ctx, EVENT_MASK(IOEVENT_PWM));
+    }
 }
 
 void AP_IOMCU_FW::process_io_packet()