diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index 7532b84c69..507bc546d8 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -434,6 +434,8 @@ void PX4RCOutput::_publish_actuators(void)
     }
     if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
         _arm_actuators(true);
+    } else {
+        _arm_actuators(false);
     }
 }