diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index 99f887a5b9..d6b7ef090c 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -57,6 +57,15 @@ MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkSt
 	_uavcan_parameter_value_sub(-1)
 {
 }
+MavlinkParametersManager::~MavlinkParametersManager()
+{
+	if (_uavcan_parameter_value_sub >= 0) {
+		orb_unsubscribe(_uavcan_parameter_value_sub);
+	}
+	if (_uavcan_parameter_request_pub) {
+		orb_unadvertise(_uavcan_parameter_request_pub);
+	}
+}
 
 unsigned
 MavlinkParametersManager::get_size()
diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h
index 1dcd073203..d0a14d1cd8 100644
--- a/src/modules/mavlink/mavlink_parameters.h
+++ b/src/modules/mavlink/mavlink_parameters.h
@@ -84,6 +84,7 @@ private:
 
 protected:
 	explicit MavlinkParametersManager(Mavlink *mavlink);
+	~MavlinkParametersManager();
 
 	void send(const hrt_abstime t);