diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 142df0e5ea..d03acb4d56 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -87,6 +87,7 @@
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/safety.h>
+#include <uORB/topics/adc_report.h>
 
 
 #ifdef HRT_PPM_CHANNEL
@@ -180,7 +181,9 @@ private:
 	struct work_s	_work;
 	int		_armed_sub;
 	int		_param_sub;
+	int		_adc_sub;
 	struct rc_input_values	_rc_in;
+	float		_analog_rc_rssi_volt;
 	orb_advert_t	_to_input_rc;
 	orb_advert_t	_outputs_pub;
 	unsigned	_num_outputs;
@@ -361,7 +364,9 @@ PX4FMU::PX4FMU() :
 	_work{},
 	_armed_sub(-1),
 	_param_sub(-1),
+	_adc_sub(-1),
 	_rc_in{},
+	_analog_rc_rssi_volt(-1.0f),
 	_to_input_rc(nullptr),
 	_outputs_pub(nullptr),
 	_num_outputs(0),
@@ -835,8 +840,13 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
 		_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
 	}
 
-	for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
+	unsigned valid_chans = 0;
+
+	for (unsigned i = 0; i < _rc_in.channel_count; i++) {
 		_rc_in.values[i] = raw_rc_values[i];
+		if (raw_rc_values[i] != UINT16_MAX) {
+			valid_chans++;
+		}
 	}
 
 	_rc_in.timestamp_publication = now;
@@ -845,15 +855,29 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
 
 	/* fake rssi if no value was provided */
 	if (rssi == -1) {
-		_rc_in.rssi =
-			(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
+
+		/* set RSSI if analog RSSI input is present */
+		if (_analog_rc_rssi_volt > 0.0f) {
+			_rc_in.rssi = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
+
+			if (_rc_in.rssi > 100) {
+				_rc_in.rssi = 100;
+			}
+		} else {
+			_rc_in.rssi =
+				(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
+		}
 
 	} else {
 		_rc_in.rssi = rssi;
 	}
 
+	if (valid_chans == 0) {
+		_rc_in.rssi = 0;
+	}
+
 	_rc_in.rc_failsafe = failsafe;
-	_rc_in.rc_lost = false;
+	_rc_in.rc_lost = (valid_chans > 0);
 	_rc_in.rc_lost_frame_count = frame_drops;
 	_rc_in.rc_total_frame_count = 0;
 }
@@ -909,6 +933,7 @@ PX4FMU::cycle()
 
 		_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 		_param_sub = orb_subscribe(ORB_ID(parameter_update));
+		_adc_sub = orb_subscribe(ORB_ID(adc_report));
 
 		/* initialize PWM limit lib */
 		pwm_limit_init(&_pwm_limit);
@@ -1162,6 +1187,32 @@ PX4FMU::cycle()
 		}
 	}
 
+	/* update ADC sampling */
+#ifdef ADC_RC_RSSI_CHANNEL
+	orb_check(_adc_sub, &updated);
+
+	if (updated) {
+
+		struct adc_report_s adc;
+		orb_copy(ORB_ID(adc_report), _adc_sub, &adc);
+		const unsigned adc_chans = sizeof(adc.channel_id) / sizeof(adc.channel_id[0]);
+
+		for (unsigned i = 0; i < adc_chans; i++) {
+			if (adc.channel_id[i] == ADC_RC_RSSI_CHANNEL) {
+
+				/* only allow this to be used if we see a high RSSI once */
+				if (_analog_rc_rssi_volt < 0.0f && adc.channel_value[i] > 2.5f) {
+					_analog_rc_rssi_volt = adc.channel_value[i];
+				}
+
+				if (_analog_rc_rssi_volt > 0.0f) {
+					_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.995f + adc.channel_value[i] * 0.005f;
+				}
+			}
+		}
+	}
+#endif
+
 	bool rc_updated = false;
 
 #ifdef RC_SERIAL_PORT
@@ -1178,7 +1229,7 @@ PX4FMU::cycle()
 
 	if (_report_lock && _rc_scan_locked) {
 		_report_lock = false;
-		warnx("RCscan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
+		//warnx("RCscan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
 	}
 
 	// read all available data from the serial RC input UART
@@ -1347,6 +1398,8 @@ PX4FMU::cycle()
 				fill_rc_in(ppm_decoded_channels, ppm_buffer, _cycle_timestamp,
 					   false, false, 0);
 				_rc_scan_locked = true;
+				_rc_in.rc_ppm_frame_length = ppm_frame_length;
+				_rc_in.timestamp_last_signal = ppm_last_valid_decode;
 			}
 
 		} else {
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 5cd33dd6f1..5f1144db87 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -249,7 +249,6 @@ private:
 	struct airspeed_s _airspeed;
 	struct rc_parameter_map_s _rc_parameter_map;
 	float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];	/**< parameter values for RC control */
-	float _analog_rc_rssi_volt;			/**< analog RSSI indicator */
 
 	math::Matrix<3, 3>	_board_rotation;	/**< rotation matrix for the orientation that the board is mounted */
 	math::Matrix<3, 3>	_mag_rotation[3];	/**< rotation matrix for the orientation that the external mag0 is mounted */
@@ -553,7 +552,6 @@ Sensors::Sensors() :
 	_airspeed_validator(),
 
 	_param_rc_values{},
-	_analog_rc_rssi_volt(-1.0f),
 	_board_rotation{},
 	_mag_rotation{}
 {
@@ -1699,21 +1697,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 						}
 					}
 
-#endif
-#ifdef ADC_RC_RSSI_CHANNEL
-
-				} else if (ADC_RC_RSSI_CHANNEL == buf_adc[i].am_channel) {
-					float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f;
-
-					if (voltage > 0.2f) {
-
-						if (_analog_rc_rssi_volt < 0.0f) {
-							_analog_rc_rssi_volt = voltage;
-						}
-
-						_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.999f + voltage * 0.001f;
-					}
-
 #endif
 				}
 			}
@@ -1924,12 +1907,6 @@ Sensors::rc_poll()
 
 		_rc.channel_count = rc_input.channel_count;
 		_rc.rssi = rc_input.rssi;
-
-		/* overwrite RSSI if analog RSSI input is present */
-		if (_analog_rc_rssi_volt > 0.2f) {
-			_rc.rssi = (_analog_rc_rssi_volt / 3.0f) * 100.0f;
-		}
-
 		_rc.signal_lost = signal_lost;
 		_rc.timestamp = rc_input.timestamp_last_signal;
 		_rc.frame_drop_count = rc_input.rc_lost_frame_count;