diff --git a/src/modules/gyro_calibration/GyroCalibration.cpp b/src/modules/gyro_calibration/GyroCalibration.cpp
index ced9d66c7f..169652a3e9 100644
--- a/src/modules/gyro_calibration/GyroCalibration.cpp
+++ b/src/modules/gyro_calibration/GyroCalibration.cpp
@@ -155,6 +155,7 @@ void GyroCalibration::Run()
 			if (_gyro_calibration[gyro].device_id() == sensor_gyro.device_id) {
 				const Vector3f val{Vector3f{sensor_gyro.x, sensor_gyro.y, sensor_gyro.z} - _gyro_calibration[gyro].thermal_offset()};
 				_gyro_mean[gyro].update(val);
+				_gyro_last_update[gyro] = sensor_gyro.timestamp;
 
 			} else {
 				// setting device id, reset all
@@ -162,6 +163,13 @@ void GyroCalibration::Run()
 				Reset();
 			}
 		}
+
+		if ((_gyro_last_update[gyro] != 0) && (hrt_elapsed_time(&_gyro_last_update[gyro]) > 100_ms)) {
+			// reset on any timeout
+			Reset();
+			_gyro_last_update[gyro] = 0;
+			return;
+		}
 	}
 
 
diff --git a/src/modules/gyro_calibration/GyroCalibration.hpp b/src/modules/gyro_calibration/GyroCalibration.hpp
index 1b2b925b5e..9d1047d6b3 100644
--- a/src/modules/gyro_calibration/GyroCalibration.hpp
+++ b/src/modules/gyro_calibration/GyroCalibration.hpp
@@ -95,6 +95,7 @@ private:
 	calibration::Gyroscope _gyro_calibration[MAX_SENSORS] {};
 	math::WelfordMean<matrix::Vector3f> _gyro_mean[MAX_SENSORS] {};
 	float _temperature[MAX_SENSORS] {};
+	hrt_abstime _gyro_last_update[MAX_SENSORS] {};
 
 	matrix::Vector3f _acceleration[MAX_SENSORS] {};