diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp
index a07280515e..7e89dffb20 100644
--- a/apps/examples/kalman_demo/KalmanNav.cpp
+++ b/apps/examples/kalman_demo/KalmanNav.cpp
@@ -240,9 +240,7 @@ void KalmanNav::update()
 	if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
 		_pubTimeStamp = newTimeStamp;
 
-		if (_positionInitialized) _pos.update();
-
-		if (_attitudeInitialized) _att.update();
+		updatePublications();
 	}
 
 	// output
@@ -294,8 +292,13 @@ void KalmanNav::updatePublications()
 	_att.q_valid = true;
 	_att.counter = _navFrames;
 
-	// update publications
-	SuperBlock::updatePublications();
+	// selectively update publications,
+	// do NOT call superblock do-all method
+	if (_positionInitialized)
+		_pos.update();
+
+	if (_attitudeInitialized)
+		_att.update();
 }
 
 int KalmanNav::predictState(float dt)