diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp
index 3bdd6e47a6..2fa14bb958 100644
--- a/src/modules/manual_control/ManualControlSelector.cpp
+++ b/src/modules/manual_control/ManualControlSelector.cpp
@@ -39,7 +39,7 @@ namespace manual_control
 
 void ManualControlSelector::update_time_only(uint64_t now)
 {
-	if (_setpoint.chosen_input.timestamp_sample + _timeout < now) {
+	if (now - _setpoint.chosen_input.timestamp_sample > _timeout) {
 		_setpoint.valid = false;
 		_instance = -1;
 	}