diff --git a/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp b/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
index 4bc4fdf531..1abade2e8f 100644
--- a/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
@@ -117,10 +117,6 @@ DfTROneWrapper::~DfTROneWrapper()
 
 int DfTROneWrapper::start()
 {
-	struct distance_sensor_s d;
-	_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
-					   &_orb_class_instance, ORB_PRIO_DEFAULT);
-
 	int ret;
 
 	/* Init device and start sensor. */
@@ -156,10 +152,6 @@ int DfTROneWrapper::stop()
 
 int DfTROneWrapper::_publish(struct range_sensor_data &data)
 {
-	if (!_range_topic) {
-		return 1;
-	}
-
 	struct distance_sensor_s d;
 
 	memset(&d, 0, sizeof(d));
@@ -180,7 +172,12 @@ int DfTROneWrapper::_publish(struct range_sensor_data &data)
 
 	d.covariance = 0.0f;
 
-	orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
+	if (_range_topic == nullptr) {
+		_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
+						   &_orb_class_instance, ORB_PRIO_DEFAULT);
+	} else {
+		orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
+	}
 
 	/* Notify anyone waiting for data. */
 	DevMgr::updateNotify(*this);