diff --git a/platforms/posix/src/px4/common/main.cpp b/platforms/posix/src/px4/common/main.cpp
index 89841e4fac..7ed6a1a883 100644
--- a/platforms/posix/src/px4/common/main.cpp
+++ b/platforms/posix/src/px4/common/main.cpp
@@ -425,7 +425,7 @@ void register_sig_handler()
 	sigaction(SIGINT, &sig_int, nullptr);
 #endif
 
-	//sigaction(SIGTERM, &sig_int, nullptr);
+	sigaction(SIGTERM, &sig_int, nullptr);
 	sigaction(SIGFPE, &sig_fpe, nullptr);
 	sigaction(SIGPIPE, &sig_pipe, nullptr);
 }
@@ -433,7 +433,7 @@ void register_sig_handler()
 void sig_int_handler(int sig_num)
 {
 	fflush(stdout);
-	printf("\nExiting...\n");
+	printf("\nPX4 Exiting...\n");
 	fflush(stdout);
 	px4_daemon::Pxh::stop();
 	_exit_requested = true;
@@ -552,7 +552,8 @@ int run_startup_script(const std::string &commands_file, const std::string &abso
 void wait_to_exit()
 {
 	while (!_exit_requested) {
-		px4_usleep(100000);
+		// needs to be a regular sleep not dependant on lockstep (not px4_usleep)
+		usleep(100000);
 	}
 }