diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp
index 5ce98b39c1..cd9ff51b70 100644
--- a/src/drivers/uavcan/actuators/esc.cpp
+++ b/src/drivers/uavcan/actuators/esc.cpp
@@ -132,6 +132,16 @@ UavcanEscController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUA
 	_uavcan_pub_raw_cmd.broadcast(msg);
 }
 
+void
+UavcanEscController::set_rotor_count(uint8_t count)
+{
+	_rotor_count = count;
+
+	if (_rotor_count != 0u) {
+		_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
+	}
+}
+
 void
 UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
 {
diff --git a/src/drivers/uavcan/actuators/esc.hpp b/src/drivers/uavcan/actuators/esc.hpp
index ac40bf989c..1783f7fa4b 100644
--- a/src/drivers/uavcan/actuators/esc.hpp
+++ b/src/drivers/uavcan/actuators/esc.hpp
@@ -72,9 +72,9 @@ public:
 	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs);
 
 	/**
-	 * Sets the number of rotors
+	 * Sets the number of rotors and enable timer
 	 */
-	void set_rotor_count(uint8_t count) { _rotor_count = count; }
+	void set_rotor_count(uint8_t count);
 
 	static int max_output_value() { return uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); }