diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp
index 91a9145759..79b32009e4 100644
--- a/apps/px4io/mixer.cpp
+++ b/apps/px4io/mixer.cpp
@@ -220,12 +220,6 @@ mixer_tick(void)
 	}
 #endif
 
-	/*
-	 * Update the servo outputs.
-	 */
-	for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
-		up_pwm_servo_set(i, r_page_servos[i]);
-
 	/*
 	 * Decide whether the servos should be armed right now.
 	 *
@@ -243,6 +237,12 @@ mixer_tick(void)
 		up_pwm_servo_arm(true);
 		mixer_servos_armed = true;
 
+		/*
+		 * Update the servo outputs.
+		 */
+		for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
+			up_pwm_servo_set(i, r_page_servos[i]);
+
 	} else if (!should_arm && mixer_servos_armed) {
 		/* armed but need to disarm */
 		up_pwm_servo_arm(false);