diff --git a/src/modules/differential_drive/DifferentialDrive.cpp b/src/modules/differential_drive/DifferentialDrive.cpp
index c37b3ad0c1..70553ffeb3 100644
--- a/src/modules/differential_drive/DifferentialDrive.cpp
+++ b/src/modules/differential_drive/DifferentialDrive.cpp
@@ -82,7 +82,6 @@ void DifferentialDrive::Run()
 		vehicle_control_mode_s vehicle_control_mode{};
 
 		if (_vehicle_control_mode_sub.copy(&vehicle_control_mode)) {
-			_differential_drive_kinematics.setArmed(vehicle_control_mode.flag_armed);
 			_manual_driving = vehicle_control_mode.flag_control_manual_enabled;
 			_mission_driving = vehicle_control_mode.flag_control_auto_enabled;
 		}
@@ -92,6 +91,9 @@ void DifferentialDrive::Run()
 		vehicle_status_s vehicle_status{};
 
 		if (_vehicle_status_sub.copy(&vehicle_status)) {
+			const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+			const bool spooled_up = armed && (hrt_elapsed_time(&vehicle_status.armed_time) > _param_com_spoolup_time.get() * 1_s);
+			_differential_drive_kinematics.setArmed(spooled_up);
 			_acro_driving = (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO);
 		}
 	}
diff --git a/src/modules/differential_drive/DifferentialDrive.hpp b/src/modules/differential_drive/DifferentialDrive.hpp
index 98fd0b596a..255bb0c526 100644
--- a/src/modules/differential_drive/DifferentialDrive.hpp
+++ b/src/modules/differential_drive/DifferentialDrive.hpp
@@ -99,6 +99,7 @@ private:
 		(ParamFloat<px4::params::RDD_SPEED_SCALE>) _param_rdd_speed_scale,
 		(ParamFloat<px4::params::RDD_WHEEL_BASE>) _param_rdd_wheel_base,
 		(ParamFloat<px4::params::RDD_WHEEL_SPEED>) _param_rdd_wheel_speed,
-		(ParamFloat<px4::params::RDD_WHEEL_RADIUS>) _param_rdd_wheel_radius
+		(ParamFloat<px4::params::RDD_WHEEL_RADIUS>) _param_rdd_wheel_radius,
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time
 	)
 };
diff --git a/src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.cpp b/src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.cpp
index 57f3c4db7a..728c5e666a 100644
--- a/src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.cpp
+++ b/src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.cpp
@@ -34,7 +34,6 @@
 #include "DifferentialDriveControl.hpp"
 
 using namespace matrix;
-using namespace time_literals;
 
 DifferentialDriveControl::DifferentialDriveControl(ModuleParams *parent) : ModuleParams(parent)
 {
@@ -90,16 +89,6 @@ void DifferentialDriveControl::control(float dt)
 		}
 	}
 
-	if (_vehicle_status_sub.updated()) {
-		vehicle_status_s vehicle_status;
-
-		if (_vehicle_status_sub.copy(&vehicle_status)) {
-
-			const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
-			_spooled_up = armed && hrt_elapsed_time(&vehicle_status.armed_time) > _param_com_spoolup_time.get() * 1_s;
-		}
-	}
-
 	_differential_drive_setpoint_sub.update(&_differential_drive_setpoint);
 
 	// PID to reach setpoint using control_output
@@ -115,12 +104,6 @@ void DifferentialDriveControl::control(float dt)
 			pid_calculate(&_pid_angular_velocity, _differential_drive_setpoint.yaw_rate, _vehicle_body_yaw_rate, 0, dt);
 	}
 
-
-	if (!_spooled_up) {
-		differential_drive_control_output.speed = 0.0f;
-		differential_drive_control_output.yaw_rate = 0.0f;
-	}
-
 	differential_drive_control_output.timestamp = hrt_absolute_time();
 	_differential_drive_control_output_pub.publish(differential_drive_control_output);
 }
diff --git a/src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.hpp b/src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.hpp
index 8df4ef7214..8d3b7e1c21 100644
--- a/src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.hpp
+++ b/src/modules/differential_drive/DifferentialDriveControl/DifferentialDriveControl.hpp
@@ -48,7 +48,6 @@
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_status.h>
 
 class DifferentialDriveControl : public ModuleParams
 {
@@ -68,7 +67,6 @@ private:
 	uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 
 	uORB::Publication<differential_drive_setpoint_s> _differential_drive_control_output_pub{ORB_ID(differential_drive_control_output)};
 
@@ -84,14 +82,10 @@ private:
 	PID_t _pid_angular_velocity; ///< The PID controller for yaw rate.
 	PID_t _pid_speed; ///< The PID controller for velocity.
 
-	bool _spooled_up{false};
-
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::RDD_P_SPEED>) _param_rdd_p_gain_speed,
 		(ParamFloat<px4::params::RDD_I_SPEED>) _param_rdd_i_gain_speed,
 		(ParamFloat<px4::params::RDD_P_ANG_VEL>) _param_rdd_p_gain_angular_velocity,
-		(ParamFloat<px4::params::RDD_I_ANG_VEL>) _param_rdd_i_gain_angular_velocity,
-
-		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time
+		(ParamFloat<px4::params::RDD_I_ANG_VEL>) _param_rdd_i_gain_angular_velocity
 	)
 };