diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index a3dd091d6c2..906cdf1271b 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -486,7 +486,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
     case MSP_RC:
         for (int i = 0; i < rxRuntimeConfig.channelCount; i++) {
-            sbufWriteU16(dst, rcData[i]);
+            sbufWriteU16(dst, rcRaw[i]);
         }
         break;
 
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index e851bd6dc34..1cc82650c15 100755
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -470,6 +470,7 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
 {
     UNUSED(currentTimeUs);
 
+    int16_t rcStaging[MAX_SUPPORTED_RC_CHANNEL_COUNT];
     const timeMs_t currentTimeMs = millis();
 
     if (auxiliaryProcessingRequired) {
@@ -520,11 +521,21 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
             rcInvalidPulsPeriod[channel] = currentTimeMs + MAX_INVALID_PULS_TIME;
         }
 
-        // Update rcData channel value
+        // Save channel value
+        rcStaging[channel] = sample;
+    }
+
+    // Update rcData channel value if receiver is not in failsafe mode
+    // If receiver is in failsafe (not receiving signal or sending invalid channel values) - last good rcData values are retained
+    if (rxFlightChannelsValid && rxSignalReceived) {
         if (rxRuntimeConfig.requireFiltering) {
-            rcData[channel] = applyChannelFiltering(channel, sample);
+            for (int channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
+                rcData[channel] = applyChannelFiltering(channel, rcStaging[channel]);
+            }
         } else {
-            rcData[channel] = sample;
+            for (int channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
+                rcData[channel] = rcStaging[channel];
+            }
         }
     }
 
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index ced4f56df57..34a805fe16f 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -93,6 +93,7 @@ typedef enum {
 
 extern const char rcChannelLetters[];
 
+extern int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT];        // interval [1000;2000]
 extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];       // interval [1000;2000]
 
 #define MAX_MAPPABLE_RX_INPUTS 4