diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index b2eed03290..cbba4c68e0 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -329,7 +329,7 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
 		_failure_detector_status.flags.motor = (_motor_failure_mask != 0u);
 
 	} else { // Disarmed
-		for (uint8_t i = 0; i < actuator_motors_s::NUM_CONTROLS; ++i) {
+		for (uint8_t i = 0; i < esc_status_s::CONNECTED_ESC_MAX; ++i) {
 			_esc_undercurrent_hysteresis[i].set_state_and_update(false, now);
 			_esc_overcurrent_hysteresis[i].set_state_and_update(false, now);
 		}