diff --git a/src/Vehicle/ADSBVehicle.cc b/src/Vehicle/ADSBVehicle.cc
index 2aca47e5a5d5b3aa1e7fa8de80b7768bd70097ca..6fcda9ef0eedb04f0223b2553232959710279ed9 100644
--- a/src/Vehicle/ADSBVehicle.cc
+++ b/src/Vehicle/ADSBVehicle.cc
@@ -41,6 +41,7 @@ void ADSBVehicle::update(const QGeoCoordinate& location, float heading)
     emit coordinateChanged(_coordinate);
     emit altitudeChanged(_altitude);
     emit headingChanged(_heading);
+    _lastUpdateTimer.restart();
 }
 
 void ADSBVehicle::update(mavlink_adsb_vehicle_t& adsbVehicle)
@@ -84,4 +85,10 @@ void ADSBVehicle::update(mavlink_adsb_vehicle_t& adsbVehicle)
         _heading = newHeading;
         emit headingChanged(_heading);
     }
+    _lastUpdateTimer.restart();
+}
+
+bool ADSBVehicle::expired()
+{
+    return _lastUpdateTimer.hasExpired(expirationTimeoutMs);
 }
diff --git a/src/Vehicle/ADSBVehicle.h b/src/Vehicle/ADSBVehicle.h
index 5590c9c682ca3ffae87ede2f6e51b6f7bf776bd8..f0124f089bd69cefe68cbfd662fe894099a3e9eb 100644
--- a/src/Vehicle/ADSBVehicle.h
+++ b/src/Vehicle/ADSBVehicle.h
@@ -11,6 +11,7 @@
 
 #include <QObject>
 #include <QGeoCoordinate>
+#include <QElapsedTimer>
 
 #include "QGCMAVLink.h"
 
@@ -39,6 +40,10 @@ public:
     void update(mavlink_adsb_vehicle_t& adsbVehicle);
 
     void update(const QGeoCoordinate& location, float heading);
+
+    /// check if the vehicle is expired and should be removed
+    bool expired();
+
 signals:
     void coordinateChanged(QGeoCoordinate coordinate);
     void callsignChanged(QString callsign);
@@ -46,9 +51,14 @@ signals:
     void headingChanged(double heading);
 
 private:
+    static constexpr qint64 expirationTimeoutMs = 5000; ///< timeout with no update in ms after which the vehicle is removed.
+                                                        ///< AirMap sends updates for each vehicle every second.
+
     uint32_t        _icaoAddress;
     QString         _callsign;
     QGeoCoordinate  _coordinate;
     double          _altitude;
     double          _heading;
+
+    QElapsedTimer   _lastUpdateTimer;
 };
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 99a946534239294f8081c34176d7318b29bcf581..dd8e3bdf02007cf1c0ff1a01285d66cf75a21165 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -251,6 +251,10 @@ Vehicle::Vehicle(LinkInterface*             link,
     _cameras = _firmwarePlugin->createCameraManager(this);
     emit dynamicCamerasChanged();
 
+    connect(&_adsbTimer, &QTimer::timeout, this, &Vehicle::_adsbTimerTimeout);
+    _adsbTimer.setSingleShot(false);
+    _adsbTimer.start(1000);
+
     _airMapController = new AirMapController(this);
     connect(qgcApp()->toolbox()->airMapManager(), &AirMapManager::trafficUpdate, this, &Vehicle::_trafficUpdate);
 }
@@ -2928,7 +2932,6 @@ void Vehicle::_trafficUpdate(QString traffic_id, QString vehicle_id, QGeoCoordin
     Q_UNUSED(vehicle_id);
     // qDebug() << "traffic update:" << traffic_id << vehicle_id << heading << location;
     // TODO: filter based on minimum altitude?
-    // TODO: remove a vehicle after a timeout?
     if (_trafficVehicleMap.contains(traffic_id)) {
         _trafficVehicleMap[traffic_id]->update(location, heading);
     } else {
@@ -2938,6 +2941,20 @@ void Vehicle::_trafficUpdate(QString traffic_id, QString vehicle_id, QGeoCoordin
     }
 
 }
+void Vehicle::_adsbTimerTimeout()
+{
+    // TODO: take into account _adsbICAOMap as well? Needs to be tested, especially the timeout
+
+    for (auto it = _trafficVehicleMap.begin(); it != _trafficVehicleMap.end();) {
+        if (it.value()->expired()) {
+            _adsbVehicles.removeOne(it.value());
+            delete it.value();
+            it = _trafficVehicleMap.erase(it);
+        } else {
+            ++it;
+        }
+    }
+}
 
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 448a0c422ae7f72de5eb63498f94ed1f8417601f..acbce800b4b4209a8a3b107c2b12ffa703fb75f9 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -848,6 +848,7 @@ private slots:
     void _vehicleParamLoaded(bool ready);
 
     void _trafficUpdate(QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading);
+    void _adsbTimerTimeout();
 
 private:
     bool _containsLink(LinkInterface* link);
@@ -1028,6 +1029,7 @@ private:
     QmlObjectListModel              _adsbVehicles;
     QMap<uint32_t, ADSBVehicle*>    _adsbICAOMap;
     QMap<QString, ADSBVehicle*>     _trafficVehicleMap;
+    QTimer                          _adsbTimer;
 
     // Toolbox references
     FirmwarePluginManager*      _firmwarePluginManager;