diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp
index 8b2cdf3bd0..f3523092a4 100644
--- a/src/lib/mixer_module/mixer_module.cpp
+++ b/src/lib/mixer_module/mixer_module.cpp
@@ -126,8 +126,8 @@ bool MixingOutput::updateSubscriptions(bool allow_wq_switch)
 
 	if (_scheduling_policy == SchedulingPolicy::Auto) {
 		// first clear everything
-		_interface.ScheduleClear();
 		unregister();
+		_interface.ScheduleClear();
 
 		// if subscribed to control group 0 or 1 then move to the rate_ctrl WQ
 		const bool sub_group_0 = (_groups_required & (1 << 0));
diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
index 3911823944..389783f5c3 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
@@ -71,14 +71,14 @@ bool VehicleAcceleration::Start()
 
 void VehicleAcceleration::Stop()
 {
-	Deinit();
-
 	// clear all registered callbacks
 	for (auto &sub : _sensor_sub) {
 		sub.unregisterCallback();
 	}
 
 	_sensor_selection_sub.unregisterCallback();
+
+	Deinit();
 }
 
 void VehicleAcceleration::CheckFilters()
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index f84cf6d8b6..d3ab17aedb 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -74,14 +74,14 @@ bool VehicleAngularVelocity::Start()
 
 void VehicleAngularVelocity::Stop()
 {
-	Deinit();
-
 	// clear all registered callbacks
 	for (auto &sub : _sensor_sub) {
 		sub.unregisterCallback();
 	}
 
 	_sensor_selection_sub.unregisterCallback();
+
+	Deinit();
 }
 
 void VehicleAngularVelocity::CheckFilters()
diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
index ddad06390f..983896d1fe 100644
--- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
@@ -66,11 +66,11 @@ bool VehicleIMU::Start()
 
 void VehicleIMU::Stop()
 {
-	Deinit();
-
 	// clear all registered callbacks
 	_sensor_accel_integrated_sub.unregisterCallback();
 	_sensor_gyro_integrated_sub.unregisterCallback();
+
+	Deinit();
 }
 
 void VehicleIMU::ParametersUpdate(bool force)