diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 4b2cd90e28..a0be63c44a 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -467,7 +467,11 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
         }
     }
 
-    setup_signal_handlers();
+    // NOTE: signal handlers are only set before the main loop, so
+    // that if anything before the loops hangs, the default signals
+    // can still stop the process proprely, although without proper
+    // teardown.
+    // This isn't perfect, but still prevents an unkillable process.
 
     scheduler->init();
     gpio->init();
@@ -497,6 +501,8 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
     AP_Module::call_hook_setup_complete();
 #endif
 
+    setup_signal_handlers();
+
     while (!_should_exit) {
         callbacks->loop();
     }
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.h b/libraries/AP_HAL_Linux/HAL_Linux_Class.h
index 87089427aa..a0dc7f2045 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.h
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.h
@@ -2,6 +2,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 
+#include <signal.h>
+
 class HAL_Linux : public AP_HAL::HAL {
 public:
     HAL_Linux();
@@ -12,7 +14,7 @@ public:
     static void exit_signal_handler(int);
 
 protected:
-    bool _should_exit = false;
+    volatile sig_atomic_t _should_exit = false;
 };
 
 #if HAL_NUM_CAN_IFACES