diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
index 013faad440..3eee6b88be 100644
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -498,8 +498,6 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 
 void DShot::Run()
 {
-	SmartLock lock_guard(_lock);
-
 	if (should_exit()) {
 		ScheduleClear();
 		_mixing_output.unregister();
@@ -508,6 +506,8 @@ void DShot::Run()
 		return;
 	}
 
+	SmartLock lock_guard(_lock);
+
 	perf_begin(_cycle_perf);
 
 	_mixing_output.update();
diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
index 63a8b1b5da..e57d7d6369 100644
--- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp
+++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
@@ -126,8 +126,6 @@ bool LinuxPWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS
 
 void LinuxPWMOut::Run()
 {
-	SmartLock lock_guard(_lock);
-
 	if (should_exit()) {
 		ScheduleClear();
 		_mixing_output.unregister();
@@ -136,6 +134,8 @@ void LinuxPWMOut::Run()
 		return;
 	}
 
+	SmartLock lock_guard(_lock);
+
 	perf_begin(_cycle_perf);
 	perf_count(_interval_perf);
 
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index 5e8300a878..7e230fc567 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -376,8 +376,6 @@ bool PCA9685Wrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned
 
 void PCA9685Wrapper::Run()
 {
-	SmartLock lock_guard(_lock);
-
 	if (should_exit()) {
 		ScheduleClear();
 		_mixing_output.unregister();
@@ -391,6 +389,8 @@ void PCA9685Wrapper::Run()
 		return;
 	}
 
+	SmartLock lock_guard(_lock);
+
 	perf_begin(_cycle_perf);
 
 	switch (_state) {
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index ecf7de378b..25b94c70d5 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -439,8 +439,6 @@ bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 
 void PWMOut::Run()
 {
-	SmartLock lock_guard(_lock);
-
 	if (should_exit()) {
 		ScheduleClear();
 		_mixing_output.unregister();
@@ -449,6 +447,8 @@ void PWMOut::Run()
 		return;
 	}
 
+	SmartLock lock_guard(_lock);
+
 	perf_begin(_cycle_perf);
 	perf_count(_interval_perf);
 
diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index fd87c08ab6..cc45d54ab4 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -58,8 +58,6 @@ PWMSim::PWMSim(bool hil_mode_enabled) :
 void
 PWMSim::Run()
 {
-	SmartLock lock_guard(_lock);
-
 	if (should_exit()) {
 		ScheduleClear();
 		_mixing_output.unregister();
@@ -68,6 +66,8 @@ PWMSim::Run()
 		return;
 	}
 
+	SmartLock lock_guard(_lock);
+
 	_mixing_output.update();
 
 	// check for parameter updates
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index ed139aca3b..ceb34bc1cd 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -525,8 +525,6 @@ void PX4IO::updateFailsafe()
 
 void PX4IO::Run()
 {
-	SmartLock lock_guard(_lock);
-
 	if (should_exit()) {
 		ScheduleClear();
 		_mixing_output.unregister();
@@ -535,6 +533,8 @@ void PX4IO::Run()
 		return;
 	}
 
+	SmartLock lock_guard(_lock);
+
 	perf_begin(_cycle_perf);
 	perf_count(_interval_perf);
 
diff --git a/src/drivers/tap_esc/TAP_ESC.cpp b/src/drivers/tap_esc/TAP_ESC.cpp
index 9891108f83..80fd32806f 100644
--- a/src/drivers/tap_esc/TAP_ESC.cpp
+++ b/src/drivers/tap_esc/TAP_ESC.cpp
@@ -329,8 +329,6 @@ bool TAP_ESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], u
 
 void TAP_ESC::Run()
 {
-	SmartLock lock_guard(_lock);
-
 	if (should_exit()) {
 		ScheduleClear();
 		_mixing_output.unregister();
@@ -339,6 +337,8 @@ void TAP_ESC::Run()
 		return;
 	}
 
+	SmartLock lock_guard(_lock);
+
 	// push backup schedule
 	ScheduleDelayed(20_ms);