diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.cpp b/src/drivers/rpi_rc_in/rpi_rc_in.cpp
index c8f41632e1..d9f5581d7d 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.cpp
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.cpp
@@ -133,7 +133,13 @@ void RcInput::_measure(void)
 	_data.rc_lost = false;
 	_data.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
 
-	orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
+	if (nullptr == _rcinput_pub) {
+		int instance;
+		_rcinput_pub = orb_advertise_multi(ORB_ID(input_rc), &_data, &instance, ORB_PRIO_DEFAULT);
+
+	} else {
+		orb_publish(ORB_ID(input_rc), _rcinput_pub, &_data);
+	}
 }
 //---------------------------------------------------------------------------------------------------------//
 /**