diff --git a/src/network/packets.h b/src/network/packets.h
index f6c3d9b5..8bb2561d 100644
--- a/src/network/packets.h
+++ b/src/network/packets.h
@@ -67,4 +67,14 @@
 #define PACKET_INSPECTION_DATATYPE_INT 1
 #define PACKET_INSPECTION_DATATYPE_FLOAT 2
 
+// From the SH-2 interface that BNO08x use.
+enum class PacketErrorCode : uint8_t {
+	NOT_APPLICABLE = 0,
+	POWER_ON_RESET = 1,
+	INTERNAL_SYSTEM_RESET = 2,
+	WATCHDOG_TIMEOUT = 3,
+	EXTERNAL_RESET = 4,
+	OTHER = 5,
+};
+
 #endif  // SLIMEVR_PACKETS_H_
diff --git a/src/sensors/icm20948sensor.cpp b/src/sensors/icm20948sensor.cpp
index e3347683..4466b513 100644
--- a/src/sensors/icm20948sensor.cpp
+++ b/src/sensors/icm20948sensor.cpp
@@ -329,7 +329,10 @@ void ICM20948Sensor::checkSensorTimeout() {
 			addr,
 			currenttime - lastData
 		);
-		networkConnection.sendSensorError(this->sensorId, 1);
+		networkConnection.sendSensorError(
+			this->sensorId,
+			static_cast<uint8_t>(PacketErrorCode::WATCHDOG_TIMEOUT)
+		);
 		lastData = currenttime;
 	}
 }
diff --git a/src/sensors/softfusion/softfusionsensor.h b/src/sensors/softfusion/softfusionsensor.h
index 857b24fe..ca563db4 100644
--- a/src/sensors/softfusion/softfusionsensor.h
+++ b/src/sensors/softfusion/softfusionsensor.h
@@ -199,6 +199,26 @@ class SoftFusionSensor : public Sensor {
 		, m_sensor(I2CImpl(i2cAddress), m_Logger) {}
 	~SoftFusionSensor() {}
 
+	void checkSensorTimeout() {
+		uint32_t now = millis();
+		constexpr uint32_t sensorTimeoutMillis = 2e3;  // 2 seconds
+		if (m_lastRotationUpdateMillis + sensorTimeoutMillis > now) {
+			return;
+		}
+
+		working = false;
+		m_status = SensorStatus::SENSOR_ERROR;
+		m_Logger.error(
+			"Sensor timeout I2C Address 0x%02x delaytime: %d ms",
+			addr,
+			now - m_lastRotationUpdateMillis
+		);
+		networkConnection.sendSensorError(
+			this->sensorId,
+			static_cast<uint8_t>(PacketErrorCode::WATCHDOG_TIMEOUT)
+		);
+	}
+
 	void motionLoop() override final {
 		sendTempIfNeeded();
 
@@ -218,9 +238,11 @@ class SoftFusionSensor : public Sensor {
 			);
 			optimistic_yield(100);
 			if (!m_fusion.isUpdated()) {
+				checkSensorTimeout();
 				return;
 			}
 			hadData = true;
+			m_lastRotationUpdateMillis = millis();
 			m_fusion.clearUpdated();
 		}
 
@@ -615,6 +637,7 @@ class SoftFusionSensor : public Sensor {
 
 	SensorStatus m_status = SensorStatus::SENSOR_OFFLINE;
 	uint32_t m_lastPollTime = micros();
+	uint32_t m_lastRotationUpdateMillis = 0;
 	uint32_t m_lastRotationPacketSent = 0;
 	uint32_t m_lastTemperaturePacketSent = 0;
 };