diff --git a/controller/src/main/java/org/apache/rocketmq/controller/impl/heartbeat/RaftBrokerHeartBeatManager.java b/controller/src/main/java/org/apache/rocketmq/controller/impl/heartbeat/RaftBrokerHeartBeatManager.java
index d981ff430c9..c7d5d26fd05 100644
--- a/controller/src/main/java/org/apache/rocketmq/controller/impl/heartbeat/RaftBrokerHeartBeatManager.java
+++ b/controller/src/main/java/org/apache/rocketmq/controller/impl/heartbeat/RaftBrokerHeartBeatManager.java
@@ -63,7 +63,7 @@ public class RaftBrokerHeartBeatManager implements BrokerHeartbeatManager {
 
     // resolve the scene
     // when controller all down and startup again, we wait for some time to avoid electing a new leader,which is not necessary
-    private long firstReceivedHeartbeatTime = -1;
+    private volatile long firstReceivedHeartbeatTime = -1;
 
     public RaftBrokerHeartBeatManager(ControllerConfig controllerConfig) {
         this.scheduledService = Executors.newSingleThreadScheduledExecutor(new ThreadFactoryImpl("RaftBrokerHeartbeatManager_scheduledService_"));
@@ -188,7 +188,8 @@ private void scanNotActiveBroker() {
         }
 
         // if has not received any heartbeat from broker, we do not need to scan
-        if (this.firstReceivedHeartbeatTime + controllerConfig.getJraftConfig().getjRaftScanWaitTimeoutMs() < System.currentTimeMillis()) {
+        if (this.firstReceivedHeartbeatTime == -1 ||
+            this.firstReceivedHeartbeatTime + controllerConfig.getJraftConfig().getjRaftScanWaitTimeoutMs() > System.currentTimeMillis()) {
             log.info("has not received any heartbeat from broker, skip scan not active broker");
             return;
         }
diff --git a/controller/src/test/java/org/apache/rocketmq/controller/impl/RaftBrokerHeartBeatManagerTest.java b/controller/src/test/java/org/apache/rocketmq/controller/impl/RaftBrokerHeartBeatManagerTest.java
new file mode 100644
index 00000000000..3c281589822
--- /dev/null
+++ b/controller/src/test/java/org/apache/rocketmq/controller/impl/RaftBrokerHeartBeatManagerTest.java
@@ -0,0 +1,88 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.
+ * The ASF licenses this file to You under the Apache License, Version 2.0
+ * (the "License"); you may not use this file except in compliance with
+ * the License.  You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.rocketmq.controller.impl;
+
+import com.alibaba.fastjson.JSON;
+import io.netty.channel.Channel;
+import io.netty.channel.DefaultChannelPromise;
+import java.util.Collections;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+import org.apache.rocketmq.common.ControllerConfig;
+import org.apache.rocketmq.controller.impl.heartbeat.BrokerIdentityInfo;
+import org.apache.rocketmq.controller.impl.heartbeat.RaftBrokerHeartBeatManager;
+import org.apache.rocketmq.remoting.protocol.RemotingCommand;
+import org.apache.rocketmq.remoting.protocol.ResponseCode;
+import org.junit.Before;
+import org.junit.Test;
+import org.junit.runner.RunWith;
+import org.mockito.Mock;
+import org.mockito.junit.MockitoJUnitRunner;
+
+import static org.junit.Assert.assertTrue;
+import static org.mockito.ArgumentMatchers.any;
+import static org.mockito.Mockito.when;
+
+@RunWith(MockitoJUnitRunner.class)
+public class RaftBrokerHeartBeatManagerTest {
+    @Mock
+    private JRaftController jRaftController;
+    @Mock
+    private Channel brokerChannel;
+    private RaftBrokerHeartBeatManager heartbeatManager;
+    private final ControllerConfig config = new ControllerConfig();
+
+    @Before
+    public void init() {
+        when(jRaftController.isLeaderState()).thenReturn(true);
+        config.setScanNotActiveBrokerInterval(1000);
+        this.heartbeatManager = new RaftBrokerHeartBeatManager(config);
+        this.heartbeatManager.setController(jRaftController);
+        this.heartbeatManager.initialize();
+        this.heartbeatManager.start();
+    }
+
+    @Test
+    public void testDetectBrokerAlive() throws InterruptedException {
+        final CountDownLatch latch = new CountDownLatch(1);
+        this.heartbeatManager.registerBrokerLifecycleListener((clusterName, brokerName, brokerId) -> {
+            latch.countDown(); // onBrokerInactive
+        });
+        String clusterName = "cluster-1";
+        String brokerName = "broker-1";
+        String brokerAddr = "127.0.0.1:10911";
+        long brokerId = 1L;
+        RemotingCommand onBrokerHeartbeat = RemotingCommand.createResponseCommand(ResponseCode.SUCCESS, "");
+        RemotingCommand checkNotActiveResp1 = RemotingCommand.createResponseCommand(ResponseCode.SUCCESS, "");
+        checkNotActiveResp1.setBody(JSON.toJSONBytes(Collections.emptyList()));
+        RemotingCommand checkNotActiveResp2 = RemotingCommand.createResponseCommand(ResponseCode.SUCCESS, "");
+        checkNotActiveResp2.setBody(JSON.toJSONBytes(Collections.singletonList(new BrokerIdentityInfo(clusterName, brokerName, brokerId))));
+        when(jRaftController.onBrokerHeartBeat(any()))
+            .thenReturn(CompletableFuture.completedFuture(onBrokerHeartbeat));
+        when(jRaftController.checkNotActiveBroker(any()))
+            .thenReturn(CompletableFuture.completedFuture(checkNotActiveResp1))
+            .thenReturn(CompletableFuture.completedFuture(checkNotActiveResp2));
+        DefaultChannelPromise channelPromise = new DefaultChannelPromise(brokerChannel);
+        channelPromise.setSuccess();
+        when(brokerChannel.close()).thenReturn(channelPromise);
+        this.heartbeatManager.onBrokerHeartbeat(clusterName, brokerName, brokerAddr, brokerId, 3000L, brokerChannel,
+            1, 1L, -1L, 0);
+        assertTrue(latch.await(5000, TimeUnit.MILLISECONDS));
+        this.heartbeatManager.shutdown();
+    }
+}