diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 2ac72126bb..07cd55ac6c 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -311,6 +311,10 @@ Sensors::~Sensors()
 int
 Sensors::parameters_update()
 {
+	if (_armed) {
+		return 0;
+	}
+
 	/* read the parameter values into _parameters */
 	int ret = update_parameters(_parameter_handles, _parameters);
 
@@ -709,7 +713,7 @@ Sensors::start()
 	/* start the task */
 	_sensors_task = px4_task_spawn_cmd("sensors",
 					   SCHED_DEFAULT,
-					   SCHED_PRIORITY_MAX - 5,
+					   SCHED_PRIORITY_MAX - 6,
 					   2000,
 					   (px4_main_t)&Sensors::task_main_trampoline,
 					   nullptr);