diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
index 9d3ea84864..606431a5a8 100644
--- a/src/drivers/frsky_telemetry/frsky_telemetry.c
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -67,8 +67,6 @@
 static volatile bool thread_should_exit = false;
 static volatile bool thread_running = false;
 static int frsky_task;
-static struct sensor_baro_s sensor_baro;
-static float filtered_alt = NAN;
 
 /* functions */
 static int sPort_open_uart(const char *uart_name, struct termios *uart_config, struct termios *uart_config_original);
@@ -176,7 +174,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
 	}
 
 	/* Open UART assuming SmartPort telemetry */
-	warnx("opening uart");
 	struct termios uart_config_original;
 	struct termios uart_config;
 	const int uart = sPort_open_uart(device_name, &uart_config, &uart_config_original);
@@ -201,21 +198,28 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
 	 */
 	int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 3000);
 
-//	warnx("poll status: %u", status);
 	if (status > 0) {
 		/* received some data; check size of packet */
 		usleep(5000);
 		status = read(uart, &sbuf[0], sizeof(sbuf));
-//		warnx("received %u bytes", status);
 	}
 
 	if (status > 0 && status < 3) {
 		/* traffic on the port, D type is 11 bytes per frame, SmartPort is only 2 */
 		/* Subscribe to topics */
-		sPort_init();
+		if (!sPort_init()) {
+			err(1, "could not allocate memory");
+		}
 
 		warnx("sending FrSky SmartPort telemetry");
 
+		struct sensor_baro_s *sensor_baro = malloc(sizeof(struct sensor_baro_s));
+
+		if (sensor_baro == NULL) {
+			err(1, "could not allocate memory");
+		}
+
+		static float filtered_alt = NAN;
 		int sensor_sub = orb_subscribe(ORB_ID(sensor_baro));
 
 		/* send S.port telemetry */
@@ -252,13 +256,13 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
 			orb_check(sensor_sub, &sensor_updated);
 
 			if (sensor_updated) {
-				orb_copy(ORB_ID(sensor_baro), sensor_sub, &sensor_baro);
+				orb_copy(ORB_ID(sensor_baro), sensor_sub, sensor_baro);
 
 				if (isnan(filtered_alt)) {
-					filtered_alt = sensor_baro.altitude;
+					filtered_alt = sensor_baro->altitude;
 
 				} else {
-					filtered_alt = .05f * sensor_baro.altitude + .95f * filtered_alt;
+					filtered_alt = .05f * sensor_baro->altitude + .95f * filtered_alt;
 				}
 			}
 
@@ -390,9 +394,14 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
 			}
 		}
 
-	} else if (status >= 0) {
+		warnx("freeing sPort memory");
+		sPort_deinit();
+		free(sensor_baro);
+
 		/* either no traffic on the port (0=>timeout), or D type packet */
 
+	} else if (status > 0) {
+		warnx("sending FrSky D-type telemetry");
 		/* detected D type telemetry: reconfigure UART */
 		status = set_uart_speed(uart, &uart_config, B9600);
 
@@ -453,6 +462,9 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
 
 		/* TODO: flush the input buffer if in full duplex mode */
 		read(uart, &sbuf[0], sizeof(sbuf));
+	} else {
+		warnx("FrSky receiver not detected, exiting");
+
 	}
 
 	/* Reset the UART flags to original state */
diff --git a/src/drivers/frsky_telemetry/sPort_data.c b/src/drivers/frsky_telemetry/sPort_data.c
index 065dcb53f3..6ae0c0a105 100644
--- a/src/drivers/frsky_telemetry/sPort_data.c
+++ b/src/drivers/frsky_telemetry/sPort_data.c
@@ -57,23 +57,35 @@
 
 #define frac(f) (f - (int)f)
 
-//static int battery_sub = -1;
 static int sensor_sub = -1;
 static int global_position_sub = -1;
 static int vehicle_status_sub = -1;
-
-static struct vehicle_status_s vehicle_status;
-static struct sensor_combined_s sensor_data;
-static struct vehicle_global_position_s global_pos;
+static struct vehicle_status_s *vehicle_status;
+static struct sensor_combined_s *sensor_data;
+static struct vehicle_global_position_s *global_pos;
 
 /**
  * Initializes the uORB subscriptions.
  */
-void sPort_init()
+bool sPort_init()
 {
+	vehicle_status = malloc(sizeof(struct vehicle_status_s));
+	sensor_data = malloc(sizeof(struct sensor_combined_s));
+	global_pos = malloc(sizeof(struct vehicle_global_position_s));
+	if (vehicle_status == NULL || vehicle_status == NULL || vehicle_status == NULL) {
+		return false;
+	}
 	global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+	return true;
+}
+
+void sPort_deinit()
+{
+	free(vehicle_status);
+	free(sensor_data);
+	free(global_pos);
 }
 
 static void update_crc(uint16_t *crc, unsigned char b)
@@ -145,10 +157,10 @@ void sPort_send_data(int uart, uint16_t id, uint32_t data)
 void sPort_send_BATV(int uart)
 {
 	/* get a local copy of the vehicle status data */
-	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, vehicle_status);
 
 	/* send battery voltage as VFAS */
-	uint32_t voltage = (int)(100 * vehicle_status.battery_voltage);
+	uint32_t voltage = (int)(100 * vehicle_status->battery_voltage);
 	sPort_send_data(uart, SMARTPORT_ID_VFAS, voltage);
 }
 
@@ -156,7 +168,7 @@ void sPort_send_BATV(int uart)
 void sPort_send_CUR(int uart)
 {
 	/* send data */
-	uint32_t current = (int)(10 * vehicle_status.battery_current);
+	uint32_t current = (int)(10 * vehicle_status->battery_current);
 	sPort_send_data(uart, SMARTPORT_ID_CURR, current);
 }
 
@@ -166,10 +178,10 @@ void sPort_send_CUR(int uart)
 void sPort_send_ALT(int uart)
 {
 	/* get a local copy of the current sensor values */
-	orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor_data);
+	orb_copy(ORB_ID(sensor_combined), sensor_sub, sensor_data);
 
 	/* send data */
-	uint32_t alt = (int)(100 * sensor_data.baro_alt_meter[0]);
+	uint32_t alt = (int)(100 * sensor_data->baro_alt_meter[0]);
 	sPort_send_data(uart, SMARTPORT_ID_ALT, alt);
 }
 
@@ -177,7 +189,7 @@ void sPort_send_ALT(int uart)
 void sPort_send_SPD(int uart)
 {
 	/* send data */
-	float speed  = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
+	float speed  = sqrtf(global_pos->vel_n * global_pos->vel_n + global_pos->vel_e * global_pos->vel_e);
 	uint32_t ispeed = (int)(10 * speed);
 	sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
 }
@@ -194,7 +206,7 @@ void sPort_send_VSPD(int uart, float speed)
 void sPort_send_FUEL(int uart)
 {
 	/* send data */
-	uint32_t fuel = (int)(100 * vehicle_status.battery_remaining);
+	uint32_t fuel = (int)(100 * vehicle_status->battery_remaining);
 	sPort_send_data(uart, SMARTPORT_ID_FUEL, fuel);
 }
 
@@ -202,14 +214,14 @@ void sPort_send_GPS_LON(int uart)
 {
 	/* send longitude */
 	/* get a local copy of the global position data */
-	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
+	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, global_pos);
 
 	/* convert to 30 bit signed magnitude degrees*6E5 with MSb = 1 and bit 30=sign */
 	/* precision is approximately 0.1m */
-	uint32_t iLon = 6E5 * fabs(global_pos.lon);
+	uint32_t iLon = 6E5 * fabs(global_pos->lon);
 	iLon |= (1 << 31);
 
-	if (global_pos.lon < 0) { iLon |= (1 << 30); }
+	if (global_pos->lon < 0) { iLon |= (1 << 30); }
 
 	sPort_send_data(uart, SMARTPORT_ID_GPS_LON_LAT, iLon);
 }
@@ -219,9 +231,9 @@ void sPort_send_GPS_LAT(int uart)
 	/* send latitude */
 
 	/* convert to 30 bit signed magnitude degrees*6E5 with MSb = 0 and bit 30=sign */
-	uint32_t iLat = 6E5 * fabs(global_pos.lat);
+	uint32_t iLat = 6E5 * fabs(global_pos->lat);
 
-	if (global_pos.lat < 0) { iLat |= (1 << 30); }
+	if (global_pos->lat < 0) { iLat |= (1 << 30); }
 
 	sPort_send_data(uart, SMARTPORT_ID_GPS_LON_LAT, iLat);
 }
@@ -231,7 +243,7 @@ void sPort_send_GPS_ALT(int uart)
 	/* send altitude */
 
 	/* convert to 100 * m/sec */
-	uint32_t iAlt = 100 * global_pos.alt;
+	uint32_t iAlt = 100 * global_pos->alt;
 	sPort_send_data(uart, SMARTPORT_ID_GPS_ALT, iAlt);
 }
 
@@ -240,14 +252,14 @@ void sPort_send_GPS_COG(int uart)
 	/* send course */
 
 	/* convert to 30 bit signed magnitude degrees*6E5 with MSb = 1 and bit 30=sign */
-	uint32_t iYaw = 100 * global_pos.yaw;
+	uint32_t iYaw = 100 * global_pos->yaw;
 	sPort_send_data(uart, SMARTPORT_ID_GPS_CRS, iYaw);
 }
 
 void sPort_send_GPS_SPD(int uart)
 {
 	/* send 100 * knots */
-	float speed  = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
+	float speed  = sqrtf(global_pos->vel_n * global_pos->vel_n + global_pos->vel_e * global_pos->vel_e);
 	uint32_t ispeed = (int)(1944 * speed);
 	sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
 }
diff --git a/src/drivers/frsky_telemetry/sPort_data.h b/src/drivers/frsky_telemetry/sPort_data.h
index cd3f7e18a3..67e7bd41d5 100644
--- a/src/drivers/frsky_telemetry/sPort_data.h
+++ b/src/drivers/frsky_telemetry/sPort_data.h
@@ -43,6 +43,7 @@
 #define _SPORT_DATA_H
 
 #include <sys/types.h>
+#include <stdbool.h>
 
 /* FrSky SmartPort polling IDs captured from X4R */
 #define SMARTPORT_POLL_1    0x1B
@@ -78,7 +79,8 @@
 #define SMARTPORT_ID_GPS_TIME      0x0850
 
 // Public functions
-void sPort_init(void);
+bool sPort_init(void);
+void sPort_deinit(void);
 void sPort_send_data(int uart, uint16_t id, uint32_t data);
 void sPort_send_BATV(int uart);
 void sPort_send_CUR(int uart);