diff --git a/platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4/common/drv_hrt.cpp
index 18157d0cfa..4cb2ec18ac 100644
--- a/platforms/posix/src/px4/common/drv_hrt.cpp
+++ b/platforms/posix/src/px4/common/drv_hrt.cpp
@@ -134,7 +134,10 @@ void hrt_store_absolute_time(volatile hrt_abstime *t)
  */
 bool	hrt_called(struct hrt_call *entry)
 {
-	return (entry->deadline == 0);
+	hrt_lock();
+	bool result = (entry->deadline == 0);
+	hrt_unlock();
+	return result;
 }
 
 /*
@@ -416,12 +419,15 @@ hrt_call_invoke()
 		call->deadline = 0;
 
 		/* invoke the callout (if there is one) */
-		if (call->callout) {
+		hrt_callout callout = call->callout;
+		void *arg = call->arg;
+
+		if (callout) {
 			// Unlock so we don't deadlock in callback
 			hrt_unlock();
 
-			//PX4_INFO("call %p: %p(%p)", call, call->callout, call->arg);
-			call->callout(call->arg);
+			//PX4_INFO("call %p: %p(%p)", call, callout, arg);
+			callout(arg);
 
 			hrt_lock();
 		}
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index bb62da0189..f3acd70ce6 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -272,14 +272,14 @@ static inline uint16_t get_latency_bucket_count(void) { return LATENCY_BUCKET_CO
 
 static inline latency_info_t get_latency(uint16_t bucket_idx, uint16_t counter_idx)
 {
-	latency_info_t ret = {latency_buckets[bucket_idx], latency_counters[counter_idx]};
+	latency_info_t ret = {latency_buckets[bucket_idx], __atomic_load_n(&latency_counters[counter_idx], __ATOMIC_RELAXED)};
 	return ret;
 }
 
 static inline void reset_latency_counters(void)
 {
 	for (int i = 0; i <= get_latency_bucket_count(); i++) {
-		latency_counters[i] = 0;
+		__atomic_store_n(&latency_counters[i], 0, __ATOMIC_RELAXED);
 	}
 }