diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
index c8ca5156fb..dc6824256a 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
@@ -151,7 +151,7 @@ void RCOutput::update_channel_masks() {
     }
 
 #if HAL_PWM_COUNT > 0
-    for (uint8_t i=0; i<HAL_PWM_COUNT; i++) {
+    for (uint8_t i=chan_offset; i<HAL_PWM_COUNT+chan_offset; i++) {
         switch (_dshot_esc_type) {
             case DSHOT_ESC_BLHELI:
             case DSHOT_ESC_BLHELI_S: