diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp
index dc5f791af2..ee75bcf9fa 100644
--- a/src/lib/mixer_module/mixer_module.cpp
+++ b/src/lib/mixer_module/mixer_module.cpp
@@ -455,7 +455,8 @@ bool MixingOutput::update()
 		}
 	}
 
-	if (!all_disabled) {
+	// Send output if any function mapped or one last disabling sample
+	if (!all_disabled || !_was_all_disabled) {
 		if (!_armed.armed && !_armed.manual_lockdown) {
 			_actuator_test.overrideValues(outputs, _max_num_outputs);
 		}
@@ -463,6 +464,8 @@ bool MixingOutput::update()
 		limitAndUpdateOutputs(outputs, has_updates);
 	}
 
+	_was_all_disabled = all_disabled;
+
 	return true;
 }
 
diff --git a/src/lib/mixer_module/mixer_module.hpp b/src/lib/mixer_module/mixer_module.hpp
index c791feb103..3deaa54aa4 100644
--- a/src/lib/mixer_module/mixer_module.hpp
+++ b/src/lib/mixer_module/mixer_module.hpp
@@ -288,6 +288,7 @@ private:
 	hrt_abstime _lowrate_schedule_interval{300_ms};
 	ActuatorTest _actuator_test{_function_assignment};
 	uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)
+	bool _was_all_disabled{false};
 
 	uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback
 
diff --git a/src/lib/mixer_module/mixer_module_tests.cpp b/src/lib/mixer_module/mixer_module_tests.cpp
index ef48f3e3f2..3901a1c85d 100644
--- a/src/lib/mixer_module/mixer_module_tests.cpp
+++ b/src/lib/mixer_module/mixer_module_tests.cpp
@@ -191,11 +191,15 @@ TEST_F(MixerModuleTest, basic)
 	mixing_output.setAllMaxValues(MAX_VALUE);
 	EXPECT_EQ(test_module.num_updates, 0);
 
-	// all functions disabled: not expected to get an update
+	// all functions disabled: expect to get one single update to process disabling the output signal
 	mixing_output.update();
 	mixing_output.updateSubscriptions(false);
 	mixing_output.update();
-	EXPECT_EQ(test_module.num_updates, 0);
+	EXPECT_EQ(test_module.num_updates, 1);
+	mixing_output.update();
+	mixing_output.updateSubscriptions(false);
+	mixing_output.update();
+	EXPECT_EQ(test_module.num_updates, 1);
 	test_module.reset();
 
 	// configure motor, ensure all still disarmed