diff --git a/src/lib/rate_control/gain_compression.cpp b/src/lib/rate_control/gain_compression.cpp
index 7e1e172de4..40a60c19ba 100644
--- a/src/lib/rate_control/gain_compression.cpp
+++ b/src/lib/rate_control/gain_compression.cpp
@@ -96,6 +96,10 @@ void GainCompression3d::update(const Vector3f &input, const float dt)
 
 float GainCompression::update(const float input, const float dt)
 {
+	if (!PX4_ISFINITE(input)) {
+		return _compression_gain;
+	}
+
 	_hpf = _alpha_hpf * _hpf + _alpha_hpf * (input - _input_prev);
 	_lpf.update(_hpf * _hpf);