diff --git a/test/mavsdk_tests/autopilot_tester.cpp b/test/mavsdk_tests/autopilot_tester.cpp
index 730aa1d460..a39ca1f3c9 100644
--- a/test/mavsdk_tests/autopilot_tester.cpp
+++ b/test/mavsdk_tests/autopilot_tester.cpp
@@ -452,8 +452,29 @@ void AutopilotTester::fly_forward_in_posctl()
 	}
 
 	CHECK(_manual_control->start_position_control() == ManualControl::Result::Success);
+
+	// Send something to make sure RC is available.
+	for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
+		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
+		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
+	}
+
 	store_home();
+
+	// Send something to make sure RC is available.
+	for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
+		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
+		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
+	}
+
 	wait_until_ready();
+
+	// Send something to make sure RC is available.
+	for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
+		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
+		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
+	}
+
 	arm();
 
 	// Climb up for 5 seconds
@@ -490,10 +511,37 @@ void AutopilotTester::fly_forward_in_altctl()
 	}
 
 	CHECK(_manual_control->start_altitude_control() == ManualControl::Result::Success);
+
+	// Send something to make sure RC is available.
+	for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
+		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
+		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
+	}
+
 	store_home();
+
+	// Send something to make sure RC is available.
+	for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
+		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
+		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
+	}
+
 	wait_until_ready();
+
+	// Send something to make sure RC is available.
+	for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
+		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
+		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
+	}
+
 	arm();
 
+	// Send something to make sure RC is available.
+	for (unsigned i = 0; i < 1 * manual_control_rate_hz; ++i) {
+		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 0.5f, 0.f) == ManualControl::Result::Success);
+		sleep_for(std::chrono::milliseconds(1000 / manual_control_rate_hz));
+	}
+
 	// Climb up for 5 seconds
 	for (unsigned i = 0; i < 5 * manual_control_rate_hz; ++i) {
 		CHECK(_manual_control->set_manual_control_input(0.f, 0.f, 1.f, 0.f) == ManualControl::Result::Success);