diff --git a/src/lib/mixer_module/functions/FunctionManualRC.hpp b/src/lib/mixer_module/functions/FunctionManualRC.hpp
index 38f7d096a9..171c28a817 100644
--- a/src/lib/mixer_module/functions/FunctionManualRC.hpp
+++ b/src/lib/mixer_module/functions/FunctionManualRC.hpp
@@ -45,9 +45,7 @@ class FunctionManualRC : public FunctionProviderBase
 public:
 	FunctionManualRC()
 	{
-		for (int i = 0; i < num_data_points; ++i) {
-			_data[i] = NAN;
-		}
+		resetAllToDisarmedValue();
 	}
 
 	static FunctionProviderBase *allocate(const Context &context) { return new FunctionManualRC(); }
@@ -57,17 +55,22 @@ public:
 		manual_control_setpoint_s manual_control_setpoint;
 
 		if (_topic.update(&manual_control_setpoint)) {
-			_data[0] = manual_control_setpoint.roll;
-			_data[1] = manual_control_setpoint.pitch;
-			_data[2] = manual_control_setpoint.throttle;
-			_data[3] = manual_control_setpoint.yaw;
-			_data[4] = manual_control_setpoint.flaps;
-			_data[5] = manual_control_setpoint.aux1;
-			_data[6] = manual_control_setpoint.aux2;
-			_data[7] = manual_control_setpoint.aux3;
-			_data[8] = manual_control_setpoint.aux4;
-			_data[9] = manual_control_setpoint.aux5;
-			_data[10] = manual_control_setpoint.aux6;
+			if (manual_control_setpoint.valid) {
+				_data[0] = manual_control_setpoint.roll;
+				_data[1] = manual_control_setpoint.pitch;
+				_data[2] = manual_control_setpoint.throttle;
+				_data[3] = manual_control_setpoint.yaw;
+				_data[4] = manual_control_setpoint.flaps;
+				_data[5] = manual_control_setpoint.aux1;
+				_data[6] = manual_control_setpoint.aux2;
+				_data[7] = manual_control_setpoint.aux3;
+				_data[8] = manual_control_setpoint.aux4;
+				_data[9] = manual_control_setpoint.aux5;
+				_data[10] = manual_control_setpoint.aux6;
+
+			} else {
+				resetAllToDisarmedValue();
+			}
 		}
 	}
 
@@ -76,6 +79,13 @@ public:
 private:
 	static constexpr int num_data_points = 11;
 
+	void resetAllToDisarmedValue()
+	{
+		for (int i = 0; i < num_data_points; ++i) {
+			_data[i] = NAN;
+		}
+	}
+
 	static_assert(num_data_points == (int)OutputFunction::RC_AUXMax - (int)OutputFunction::RC_Roll + 1,
 		      "number of functions mismatch");