diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index dfaf9f68ce..33df081f14 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -1911,7 +1911,7 @@ controller_interface::return_type ControllerManager::update(
       if (controller_go)
       {
         auto controller_ret = loaded_controller.c->update(
-          time, (controller_update_rate != update_rate_ && controller_update_rate != 0)
+          time, (controller_update_factor != 1u)
                   ? rclcpp::Duration::from_seconds(1.0 / controller_update_rate)
                   : period);