diff --git a/platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4/common/drv_hrt.cpp
index c4a1d9b9dc..9634511bf3 100644
--- a/platforms/posix/src/px4/common/drv_hrt.cpp
+++ b/platforms/posix/src/px4/common/drv_hrt.cpp
@@ -53,7 +53,7 @@
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 #include <lockstep_scheduler/lockstep_scheduler.h>
-static LockstepScheduler lockstep_scheduler {};
+static LockstepScheduler lockstep_scheduler {true};
 #endif
 
 // Intervals in usec
diff --git a/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_components.h b/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_components.h
index 6767d1389d..3dc032e5a9 100644
--- a/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_components.h
+++ b/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_components.h
@@ -46,7 +46,7 @@
 class LockstepComponents
 {
 public:
-	LockstepComponents();
+	LockstepComponents(bool no_cleanup_on_destroy = false);
 	~LockstepComponents();
 
 	/**
@@ -69,6 +69,7 @@ public:
 	void wait_for_components();
 
 private:
+	const bool _no_cleanup_on_destroy;
 
 	px4_sem_t _components_sem;
 
diff --git a/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_scheduler.h b/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_scheduler.h
index 05cf64665a..711fd8d897 100644
--- a/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_scheduler.h
+++ b/platforms/posix/src/px4/common/lockstep_scheduler/include/lockstep_scheduler/lockstep_scheduler.h
@@ -46,6 +46,7 @@
 class LockstepScheduler
 {
 public:
+	LockstepScheduler(bool no_cleanup_on_destroy = false) : _components(no_cleanup_on_destroy) {}
 	~LockstepScheduler();
 
 	void set_absolute_time(uint64_t time_us);
diff --git a/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp b/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp
index 5492f72b28..730f7c8517 100644
--- a/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp
+++ b/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp
@@ -42,14 +42,19 @@
 #include <px4_platform_common/tasks.h>
 #include <limits.h>
 
-LockstepComponents::LockstepComponents()
+LockstepComponents::LockstepComponents(bool no_cleanup_on_destroy)
+	: _no_cleanup_on_destroy(no_cleanup_on_destroy)
 {
 	px4_sem_init(&_components_sem, 0, 0);
 }
 
 LockstepComponents::~LockstepComponents()
 {
-	px4_sem_destroy(&_components_sem);
+	// Trying to destroy a condition variable with threads currently blocked on it results in undefined behavior.
+	// Therefore we allow the caller not to cleanup and let the OS take care of that.
+	if (!_no_cleanup_on_destroy) {
+		px4_sem_destroy(&_components_sem);
+	}
 }
 
 int LockstepComponents::register_component()