diff --git a/src/main/config/config.c b/src/main/config/config.c
index c8be92c9f6..823f4542f5 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -403,6 +403,10 @@ static void resetConf(void)
     masterConfig.rxConfig.rx_min_usec = 885;          // any of first 4 channels below this value will trigger rx loss detection
     masterConfig.rxConfig.rx_max_usec = 2115;         // any of first 4 channels above this value will trigger rx loss detection
 
+    for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT-4; i++) {
+        masterConfig.rxConfig.rx_fail_usec_steps[i] = CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
+    }
+
     masterConfig.rxConfig.rssi_channel = 0;
     masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
     masterConfig.rxConfig.rssi_ppm_invert = 0;
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 3d7e0d94a0..a38b3f4fa8 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -97,6 +97,7 @@ void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort);
 static serialPort_t *cliPort;
 
 static void cliAux(char *cmdline);
+static void cliRxFail(char *cmdline);
 static void cliAdjustmentRange(char *cmdline);
 static void cliMotorMix(char *cmdline);
 static void cliDefaults(char *cmdline);
@@ -256,6 +257,7 @@ const clicmd_t cmdTable[] = {
         "[<index>]", cliProfile),
     CLI_COMMAND_DEF("rateprofile", "change rate profile",
         "[<index>]", cliRateProfile),
+    CLI_COMMAND_DEF("rxfail", "show/set rx failsafe settings", NULL, cliRxFail),
     CLI_COMMAND_DEF("save", "save and reboot", NULL, cliSave),
     CLI_COMMAND_DEF("serial", "configure serial ports", NULL, cliSerial),
 #ifdef USE_SERVOS
@@ -558,6 +560,43 @@ static bool isEmpty(const char *string)
     return *string == '\0';
 }
 
+static void cliRxFail(char *cmdline)
+{
+    uint8_t channel;
+    char buf[3];
+
+    if (isEmpty(cmdline)) {
+        // print out rxConfig failsafe settings
+        for (channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT-4; channel++) {
+            cliRxFail(itoa(channel, buf, 10));
+        }
+    } else {
+        uint16_t value;
+        char *ptr = cmdline;
+
+        channel = atoi(ptr++);
+        if ((channel < MAX_SUPPORTED_RC_CHANNEL_COUNT-4)) {
+            ptr = strchr(ptr, ' ');
+            if (ptr) {
+                value = atoi(++ptr);
+                value = CHANNEL_VALUE_TO_RXFAIL_STEP(value);
+                if (value > MAX_RXFAIL_RANGE_STEP) {
+                    cliPrint("Value out of range\r\n");
+                    return;
+                }
+                masterConfig.rxConfig.rx_fail_usec_steps[channel] = value;
+            }
+            // triple use of printf below
+            // 1. acknowledge interpretation on command,
+            // 2. query current setting on single item,
+            // 3. recursive use for full list.
+            printf("rxfail %u %d\r\n", channel, RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.rx_fail_usec_steps[channel]));
+        } else {
+            printf("channel must be < %u\r\n", MAX_SUPPORTED_RC_CHANNEL_COUNT-4);
+        }
+    }
+}
+
 static void cliAux(char *cmdline)
 {
     int i, val = 0;
@@ -1379,6 +1418,9 @@ static void cliDump(char *cmdline)
 #endif
         printSectionBreak();
         dumpValues(MASTER_VALUE);
+
+        cliPrint("\r\n# rxfail\r\n");
+        cliRxFail("");
     }
 
     if (dumpMask & DUMP_PROFILE) {
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index f9c0d4bb61..64c573f731 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -227,6 +227,10 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 
 #define MSP_FAILSAFE_CONFIG             75 //out message         Returns FC Fail-Safe settings
 #define MSP_SET_FAILSAFE_CONFIG         76 //in message          Sets FC Fail-Safe settings
+
+#define MSP_RXFAIL_CONFIG               77 //out message         Returns RXFAIL settings
+#define MSP_SET_RXFAIL_CONFIG           78 //in message          Sets RXFAIL settings
+
 //
 // Baseflight MSP commands (if enabled they exist in Cleanflight)
 //
@@ -1159,6 +1163,13 @@ static bool processOutCommand(uint8_t cmdMSP)
         serialize16(masterConfig.failsafeConfig.failsafe_throttle);
         break;
 
+    case MSP_RXFAIL_CONFIG:
+        headSerialReply(2 * (rxRuntimeConfig.channelCount-4));
+        for (i = 4; i < rxRuntimeConfig.channelCount; i++) {
+            serialize16(RXFAIL_STEP_TO_CHANNEL_VALUE(masterConfig.rxConfig.rx_fail_usec_steps[i-4]));
+        }
+        break;
+
     case MSP_RSSI_CONFIG:
         headSerialReply(1);
         serialize8(masterConfig.rxConfig.rssi_channel);
@@ -1584,6 +1595,18 @@ static bool processInCommand(void)
         masterConfig.failsafeConfig.failsafe_throttle = read16();
         break;
 
+    case MSP_SET_RXFAIL_CONFIG:
+        {
+            uint8_t channelCount = currentPort->dataSize / sizeof(uint16_t);
+            if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT-4) {
+                headSerialError(0);
+            } else {
+                for (i = 4; i < channelCount; i++)
+                    masterConfig.rxConfig.rx_fail_usec_steps[i-4] = CHANNEL_VALUE_TO_RXFAIL_STEP(read16());
+            }
+        }
+        break;
+
     case MSP_SET_RSSI_CONFIG:
         masterConfig.rxConfig.rssi_channel = read8();
         break;
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index 40a2b3f8a3..cfc7ffe9a6 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -33,6 +33,7 @@
 #include "drivers/serial.h"
 #include "drivers/adc.h"
 #include "io/serial.h"
+#include "io/rc_controls.h"
 
 #include "flight/failsafe.h"
 
@@ -67,6 +68,7 @@ uint16_t rssi = 0;                  // range: [0;1023]
 static bool rxDataReceived = false;
 static bool rxSignalReceived = false;
 static bool shouldCheckPulse = true;
+static bool rxPwmFlightChannelsAreGood = false;
 
 static uint32_t rxUpdateAt = 0;
 static uint32_t needRxSignalBefore = 0;
@@ -109,6 +111,7 @@ STATIC_UNIT_TESTED void rxCheckPulse(uint8_t channel, uint16_t pulseDuration)
         goodChannelMask = 0;
         failsafeOnValidDataReceived();
         rxSignalReceived = true;
+        rxPwmFlightChannelsAreGood = true;
     }
 }
 
@@ -308,6 +311,21 @@ static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
     return rcDataMean[chan] / PPM_AND_PWM_SAMPLE_COUNT;
 }
 
+static uint16_t getRxfailValue(uint8_t chan)
+{
+    switch (chan) {
+    case ROLL:
+    case PITCH:
+    case YAW:
+        return rxConfig->midrc;
+    case THROTTLE:
+        if (feature(FEATURE_3D)) return rxConfig->midrc;
+        else return rxConfig->rx_min_usec;
+    default:
+        return RXFAIL_STEP_TO_CHANNEL_VALUE(rxConfig->rx_fail_usec_steps[chan-4]);
+    }
+}
+
 static void processRxChannels(void)
 {
     uint8_t chan;
@@ -316,10 +334,12 @@ static void processRxChannels(void)
         return; // rcData will have already been updated by MSP_SET_RAW_RC
     }
 
+    rxPwmFlightChannelsAreGood = false;
+
     for (chan = 0; chan < rxRuntimeConfig.channelCount; chan++) {
 
         if (!rcReadRawFunc) {
-            rcData[chan] = rxConfig->midrc;
+            rcData[chan] = getRxfailValue(chan);
             continue;
         }
 
@@ -332,9 +352,10 @@ static void processRxChannels(void)
             rxCheckPulse(chan, sample);
         }
 
-        // validate the range
-        if (sample < rxConfig->rx_min_usec || sample > rxConfig->rx_max_usec)
-            sample = rxConfig->midrc;
+        // validate the range and check if rx signal is received
+        if (sample < rxConfig->rx_min_usec || sample > rxConfig->rx_max_usec || !rxSignalReceived) {
+            sample = getRxfailValue(chan);
+        }
 
         if (isRxDataDriven()) {
             rcData[chan] = sample;
@@ -342,6 +363,14 @@ static void processRxChannels(void)
             rcData[chan] = calculateNonDataDrivenChannel(chan, sample);
         }
     }
+
+    // Using PARALLEL PWM and one of the 4 control channels is out of range:
+    // Probably one of the cables came loose, all channels are set to rxfail values
+    if ((rxPwmFlightChannelsAreGood == false) && feature(FEATURE_RX_PARALLEL_PWM)) {
+        for (chan = 0; chan < rxRuntimeConfig.channelCount; chan++) {
+            rcData[chan] = getRxfailValue(chan);
+        }
+    }
 }
 
 static void processDataDrivenRx(void)
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 8321109cc4..372f6e14d7 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -27,6 +27,10 @@
 #define PWM_PULSE_MIN   750       // minimum PWM pulse width which is considered valid
 #define PWM_PULSE_MAX   2250      // maximum PWM pulse width which is considered valid
 
+#define RXFAIL_STEP_TO_CHANNEL_VALUE(step) (PWM_PULSE_MIN + 25 * step)
+#define CHANNEL_VALUE_TO_RXFAIL_STEP(channelValue) ((constrain(channelValue, PWM_PULSE_MIN, PWM_PULSE_MAX) - PWM_PULSE_MIN) / 25)
+#define MAX_RXFAIL_RANGE_STEP ((PWM_PULSE_MAX - PWM_PULSE_MIN) / 25)
+
 #define DEFAULT_SERVO_MIN 1000
 #define DEFAULT_SERVO_MIDDLE 1500
 #define DEFAULT_SERVO_MAX 2000
@@ -90,6 +94,7 @@ typedef struct rxConfig_s {
 
     uint16_t rx_min_usec;
     uint16_t rx_max_usec;
+    uint8_t rx_fail_usec_steps[MAX_SUPPORTED_RC_CHANNEL_COUNT-4];
 
 } rxConfig_t;