diff --git a/sw/airborne/subsystems/radio_control/sbus_common.c b/sw/airborne/subsystems/radio_control/sbus_common.c
index c6d6c64016..89f66048d1 100644
--- a/sw/airborne/subsystems/radio_control/sbus_common.c
+++ b/sw/airborne/subsystems/radio_control/sbus_common.c
@@ -32,7 +32,12 @@
  * SBUS protocol and state machine status
  */
 #define SBUS_START_BYTE 0x0f
-#define SBUS_END_BYTE 0x00
+#define SBUS_END_BYTE_0 0x00 // only possible end byte for SBUS v1
+#define SBUS_END_BYTE_1 0x04 // with SBUS v2 and 14CH mode
+#define SBUS_END_BYTE_2 0x14 // end byte is cycling
+#define SBUS_END_BYTE_3 0x24 // through the following 4 types
+#define SBUS_END_BYTE_4 0x34 // in order
+#define SBUS_END_BYTE_5 0x08 // with SBUS v2 and 12CH mode
 #define SBUS_BIT_PER_CHANNEL 11
 #define SBUS_BIT_PER_BYTE 8
 #define SBUS_FLAGS_BYTE 22
@@ -128,8 +133,13 @@ void sbus_common_decode_event(struct Sbus *sbus_p, struct uart_periph *dev)
           sbus_p->buffer[sbus_p->idx] = rbyte;
           sbus_p->idx++;
           if (sbus_p->idx == SBUS_BUF_LENGTH) {
-            // Decode if last byte is the correct end byte
-            if (rbyte == SBUS_END_BYTE) {
+            // Decode if last byte is (one of) the correct end byte
+            if (rbyte == SBUS_END_BYTE_0 ||
+                rbyte == SBUS_END_BYTE_1 ||
+                rbyte == SBUS_END_BYTE_2 ||
+                rbyte == SBUS_END_BYTE_3 ||
+                rbyte == SBUS_END_BYTE_4 ||
+                rbyte == SBUS_END_BYTE_5) {
               decode_sbus_buffer(sbus_p->buffer, sbus_p->pulses, &sbus_p->frame_available, sbus_p->ppm);
             }
             sbus_p->status = SBUS_STATUS_UNINIT;