diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
index d8fca667a8..8261849520 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
@@ -133,6 +133,7 @@ void AP_RangeFinder_MaxsonarI2CXL::_timer(void)
         if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
             distance = d;
             new_distance = true;
+            last_update_ms = AP_HAL::millis();
             _sem->give();
         }
     }
@@ -148,9 +149,10 @@ void AP_RangeFinder_MaxsonarI2CXL::update(void)
             state.distance_cm = distance;
             new_distance = false;
             update_status();
-        } else {
+        } else if (AP_HAL::millis() - last_update_ms > 300) {
+            // if no updates for 0.3 seconds set no-data
             set_status(RangeFinder::RangeFinder_NoData);
         }
-         _sem->give();
+        _sem->give();
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
index dc34d0bd27..ae721c60da 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
@@ -39,6 +39,7 @@ private:
 
     uint16_t distance;
     bool new_distance;
+    uint32_t last_update_ms;
     
     // start a reading
     bool start_reading(void);