diff --git a/src/estimators/altitude/alt_generic.cpp b/src/estimators/altitude/alt_generic.cpp
index 80fae06..ab3b6b9 100644
--- a/src/estimators/altitude/alt_generic.cpp
+++ b/src/estimators/altitude/alt_generic.cpp
@@ -329,7 +329,7 @@ void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
   }
 
   double dt = (event.current_real - event.last_real).toSec();
-  if (dt <= 0.0) {
+  if (dt <= 0.0 || dt > 1.0) {
     return;
   }
 
diff --git a/src/estimators/heading/hdg_generic.cpp b/src/estimators/heading/hdg_generic.cpp
index cedb4ce..79d0ecd 100644
--- a/src/estimators/heading/hdg_generic.cpp
+++ b/src/estimators/heading/hdg_generic.cpp
@@ -302,7 +302,7 @@ void HdgGeneric::timerUpdate(const ros::TimerEvent &event) {
   }
 
   double dt = (event.current_real - event.last_real).toSec();
-  if (dt <= 0.0) {
+  if (dt <= 0.0 || dt > 1.0) {
     return;
   }
 
diff --git a/src/estimators/lateral/lat_generic.cpp b/src/estimators/lateral/lat_generic.cpp
index 7ece255..a6ae1c4 100644
--- a/src/estimators/lateral/lat_generic.cpp
+++ b/src/estimators/lateral/lat_generic.cpp
@@ -340,7 +340,7 @@ void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
 
   // obtain dt for state prediction
   double dt = (event.current_real - event.last_real).toSec();
-  if (dt <= 0.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick
+  if (dt <= 0.0 || dt > 1.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick, in case of stopping and starting the timer, the last_real is 0
     return;
   }