diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index db6e14844a..3b02242c8a 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -219,9 +219,18 @@ mixer_tick()
 		isr_debug(5, "> PWM disabled");
 	}
 
-	if (mixer_servos_armed
-	    && (should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE))
-	    && !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
+	const bool armed_output = (should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE))
+				  && !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN);
+	const bool disarmed_output = !armed_output
+				     && (should_always_enable_pwm || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN));
+
+	if (mixer_servos_armed && (armed_output || disarmed_output)) {
+		if (disarmed_output) {
+			for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
+				r_page_servos[i] = r_page_servo_disarmed[i];
+			}
+		}
+
 		/* update the servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
 			up_pwm_servo_set(i, r_page_servos[i]);
@@ -234,22 +243,5 @@ mixer_tick()
 		} else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
 			sbus1_output(_sbus_fd, r_page_servos, PX4IO_SERVO_COUNT);
 		}
-
-	} else if (mixer_servos_armed && (should_always_enable_pwm || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN))) {
-		/* set the disarmed servo outputs. */
-		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
-			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
-			/* copy values into reporting register */
-			r_page_servos[i] = r_page_servo_disarmed[i];
-		}
-
-		/* set S.BUS1 or S.BUS2 outputs */
-		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
-			sbus1_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT);
-		}
-
-		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
-			sbus2_output(_sbus_fd, r_page_servo_disarmed, PX4IO_SERVO_COUNT);
-		}
 	}
 }