diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
index 981b95a3c..233264db0 100644
--- a/src/modules/src/stabilizer.c
+++ b/src/modules/src/stabilizer.c
@@ -368,9 +368,10 @@ static void stabilizerTask(void* param)
       calcSensorToOutputLatency(&sensorData);
       stabilizerStep++;
       STATS_CNT_RATE_EVENT(&stabilizerRate);
-
-      xSemaphoreGive(xRateSupervisorSemaphore);
     }
+
+    xSemaphoreGive(xRateSupervisorSemaphore);
+
 #ifdef CONFIG_MOTORS_ESC_PROTOCOL_DSHOT
     motorsBurstDshot();
 #endif