diff --git a/AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp b/AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp
index 1c4c7b2899..8db7979817 100644
--- a/AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp
+++ b/AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp
@@ -1315,6 +1315,7 @@ class MavLinkMultirotorApi : public MultirotorApiBase
             }
 
             if (!received_actuator_controls_) {
+                last_hil_sensor_time_ = now;
                 // drop this one since we are in LOCKSTEP mode and we have not yet received the HilActuatorControlsMessage.
                 return;
             }