diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index e49714b24a8..2e0eb0ca2d5 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -1764,6 +1764,11 @@ void PX4FMU::stop()
 	orb_unsubscribe(_armed_sub);
 	orb_unsubscribe(_param_sub);
 
+	orb_unadvertise(_to_input_rc);
+	orb_unadvertise(_outputs_pub);
+	orb_unadvertise(_to_safety);
+	orb_unadvertise(_to_mixer_status);
+
 	/* make sure servos are off */
 	up_pwm_servo_deinit();