diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index b03166ff4d..b5f21c7686 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -994,7 +994,7 @@ PX4IO::task_main()
 			}
 		}
 
-		if (now >= orb_check_last + ORB_CHECK_INTERVAL) {
+		if (!_armed && (now >= orb_check_last + ORB_CHECK_INTERVAL)) {
 			/* run at 5Hz */
 			orb_check_last = now;