diff --git a/src/main/config/config.c b/src/main/config/config.c
index 6189322f5a..600ec5a2bd 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -414,7 +414,7 @@ static void resetConf(void)
     for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
         rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[i];
         channelFailsafeConfiguration->mode = (i < NON_AUX_CHANNEL_COUNT) ? RX_FAILSAFE_MODE_AUTO : RX_FAILSAFE_MODE_HOLD;
-        channelFailsafeConfiguration->step = (i == THROTTLE) ? masterConfig.rxConfig.rx_min_usec : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
+        channelFailsafeConfiguration->step = (i == THROTTLE) ? CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.rx_min_usec) : CHANNEL_VALUE_TO_RXFAIL_STEP(masterConfig.rxConfig.midrc);
     }
 
     masterConfig.rxConfig.rssi_channel = 0;
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index 6f457fb75c..94a336153e 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -89,6 +89,7 @@ int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];     // interval [1000;2000]
 
 rxRuntimeConfig_t rxRuntimeConfig;
 static rxConfig_t *rxConfig;
+static uint8_t rcSampleIndex = 0;
 
 static uint16_t nullReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t channel) {
     UNUSED(rxRuntimeConfig);
@@ -148,14 +149,13 @@ void rxInit(rxConfig_t *rxConfig)
     uint8_t i;
 
     useRxConfig(rxConfig);
+    rcSampleIndex = 0;
 
     for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
         rcData[i] = rxConfig->midrc;
     }
 
-    if (!feature(FEATURE_3D)) {
-        rcData[0] = rxConfig->rx_min_usec;
-    }
+    rcData[THROTTLE] = (feature(FEATURE_3D)) ? rxConfig->midrc : rxConfig->rx_min_usec;
 
 #ifdef SERIAL_RX
     if (feature(FEATURE_RX_SERIAL)) {
@@ -334,8 +334,6 @@ bool shouldProcessRx(uint32_t currentTime)
     return rxDataReceived || ((int32_t)(currentTime - rxUpdateAt) >= 0); // data driven or 50Hz
 }
 
-static uint8_t rcSampleIndex = 0;
-
 static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
 {
     static int16_t rcSamples[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT][PPM_AND_PWM_SAMPLE_COUNT];
@@ -427,27 +425,26 @@ static void readRxChannelsApplyRanges(void)
     }
 }
 
-static void processNonDataDrivenRx(void)
-{
-    rcSampleIndex++;
-}
-
 static void detectAndApplySignalLossBehaviour(void)
 {
     int channel;
+    uint16_t sample;
+    bool useValueFromRx = true;
+    bool rxIsDataDriven = isRxDataDriven();
+
+    if (!rxSignalReceived) {
+        if (rxIsDataDriven && rxDataReceived) {
+            // use the values from the RX
+        } else {
+            useValueFromRx = false;
+        }
+    }
 
     rxResetFlightChannelStatus();
 
     for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
-        uint16_t sample = rcRaw[channel];
 
-        if (!rxSignalReceived) {
-            if (isRxDataDriven() && rxDataReceived) {
-                // use the values from the RX
-            } else {
-                sample = PPM_RCVR_TIMEOUT;
-            }
-        }
+        sample = (useValueFromRx) ? rcRaw[channel] : PPM_RCVR_TIMEOUT;
 
         bool validPulse = isPulseValid(sample);
 
@@ -457,7 +454,7 @@ static void detectAndApplySignalLossBehaviour(void)
 
         rxUpdateFlightChannelStatus(channel, validPulse);
 
-        if (isRxDataDriven()) {
+        if (rxIsDataDriven) {
             rcData[channel] = sample;
         } else {
             rcData[channel] = calculateNonDataDrivenChannel(channel, sample);
@@ -483,14 +480,6 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
 {
     rxUpdateAt = currentTime + DELAY_50_HZ;
 
-    if (!feature(FEATURE_RX_MSP)) {
-        // rcData will have already been updated by MSP_SET_RAW_RC
-
-        if (!isRxDataDriven()) {
-            processNonDataDrivenRx();
-        }
-    }
-
     // only proceed when no more samples to skip and suspend period is over
     if (skipRxSamples) {
         if (currentTime > suspendRxSignalUntil) {
@@ -501,6 +490,8 @@ void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
 
     readRxChannelsApplyRanges();
     detectAndApplySignalLossBehaviour();
+
+    rcSampleIndex++;
 }
 
 void parseRcChannels(const char *input, rxConfig_t *rxConfig)