diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 5b8507777b..e5ecaf8ab5 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -501,6 +501,7 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
 	}
 
 	if (m_isAutotune) {
+		etbInputErrorCounter = 0;
 		return getClosedLoopAutotune(target, observation);
 	} else {
 		// Check that we're not over the error limit
@@ -517,7 +518,12 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
         etbDutyRateOfChange = m_dutyIntegrator.accumulate(prevOutput - output);
 		prevOutput = output;
 
+        static bool wasInputError = false; // 'static' meaning it's a global variable just with limited visibility
 		bool isInputError = !Sensor::get(SensorType::Tps1).Valid || isTps2Error() || isPedalError();
+		if (Sensor::getOrZero(SensorType::Rpm) == 0 && wasInputError != isInputError) {
+		    wasInputError = isInputError;
+		    etbInputErrorCounter++;
+		}
 		return output;
 	}
 }