diff --git a/src/hoverboard-esc-serial-comm.cpp b/src/hoverboard-esc-serial-comm.cpp
index 3b99bab..29755fe 100644
--- a/src/hoverboard-esc-serial-comm.cpp
+++ b/src/hoverboard-esc-serial-comm.cpp
@@ -35,6 +35,19 @@ bool ESCSerialComm::update(long millis) //returns true if something was sent or
     if (flag_received) {
         updateMotorparams();
     }
+
+
+    if ( loopmillis > Motorparams.millis+FEEDBACKRECEIVETIMEOUT  ) { //controller disconnected
+      if (controller_connected) { //just got disconnected
+        controller_connected=false;
+        Serial.println("Controller Front feedback timeout");
+      }
+    }else if(!controller_connected && loopmillis > FEEDBACKRECEIVETIMEOUT) { //not timeouted but was before
+      controller_connected=true;
+      Serial.println("Controller Front connected");
+    }
+
+
     if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers    
         last_send=loopmillis;