diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp
index 5d218c0fa397..8812efe8f51c 100755
--- a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp
+++ b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.cpp
@@ -76,9 +76,8 @@ SF45LaserSerial::SF45LaserSerial(const char *port) :
 	_obstacle_map_msg.min_distance = 20;
 	_obstacle_map_msg.max_distance = 5000;
 	_obstacle_map_msg.angle_offset = 0;
-	const uint32_t internal_bins = sizeof(_obstacle_map_msg.distances) / sizeof(_obstacle_map_msg.distances[0]);
 
-	for (uint32_t i = 0 ; i < internal_bins; i++) {
+	for (uint32_t i = 0 ; i < BIN_COUNT; i++) {
 		_obstacle_map_msg.distances[i] = UINT16_MAX;
 	}
 
@@ -98,7 +97,6 @@ int SF45LaserSerial::init()
 	param_get(param_find("SF45_ORIENT_CFG"), &_orient_cfg);
 	param_get(param_find("SF45_YAW_CFG"), &_yaw_cfg);
 
-	/* SF45/B (50M) */
 	_interval = 10000;
 	start();
 
@@ -744,14 +742,19 @@ void SF45LaserSerial::sf45_process_replies(float *distance_m)
 
 				// update the current bin to the distance sensor reading
 				// readings in cm
+				const hrt_abstime now = hrt_absolute_time();
+
 				_obstacle_map_msg.distances[current_bin] = _current_bin_dist;
-				_obstacle_map_msg.timestamp = hrt_absolute_time();
+				_data_timestamps[current_bin] = now;
+
+				_publish_obstacle_msg(now);
+
 
 				_current_bin_dist = UINT16_MAX;
 				_previous_bin = current_bin;
 			}
 
-			_obstacle_distance_pub.publish(_obstacle_map_msg);
+
 
 			break;
 		}
@@ -794,3 +797,15 @@ uint16_t SF45LaserSerial::sf45_format_crc(uint16_t crc, uint8_t data_val)
 
 	return crc;
 }
+
+void SF45LaserSerial::_publish_obstacle_msg(hrt_abstime now)
+{
+	for (int i = 0; i < BIN_COUNT; i++) {
+		if (now - _data_timestamps[i] > SF45_MSG_MEAS_TIMEOUT) {
+			_obstacle_map_msg.distances[i] = UINT16_MAX;
+		}
+	}
+
+	_obstacle_map_msg.timestamp = now;
+	_obstacle_distance_pub.publish(_obstacle_map_msg);
+}
diff --git a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp
index 188e8fb01cde..1d591b20d958 100755
--- a/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp
+++ b/src/drivers/distance_sensor/lightware_sf45_serial/lightware_sf45_serial.hpp
@@ -72,6 +72,7 @@ enum SensorOrientation {	  // Direction the sensor faces from MAV_SENSOR_ORIENTA
 	ROTATION_UPWARD_FACING = 24,  // MAV_SENSOR_ROTATION_PITCH_90
 	ROTATION_DOWNWARD_FACING = 25 // MAV_SENSOR_ROTATION_PITCH_270
 };
+using namespace time_literals;
 class SF45LaserSerial : public px4::ScheduledWorkItem
 {
 public:
@@ -90,6 +91,8 @@ class SF45LaserSerial : public px4::ScheduledWorkItem
 private:
 	obstacle_distance_s 			_obstacle_map_msg{};
 	uORB::Publication<obstacle_distance_s>	_obstacle_distance_pub{ORB_ID(obstacle_distance)};	/**< obstacle_distance publication */
+	static constexpr int BIN_COUNT = sizeof(obstacle_distance_s::distances) / sizeof(obstacle_distance_s::distances[0]);
+	static constexpr uint64_t 	SF45_MSG_MEAS_TIMEOUT{500_ms};
 
 	void				start();
 	void				stop();
@@ -98,6 +101,10 @@ class SF45LaserSerial : public px4::ScheduledWorkItem
 	int				collect();
 	bool                            _crc_valid{false};
 
+	void 				_publish_obstacle_msg(hrt_abstime now);
+	uint64_t			_data_timestamps[BIN_COUNT];
+
+
 	char 				_port[20] {};
 	int	        		_interval{10000};
 	bool				_collect_phase{false};