diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index ffdcaf8c96..9ab6b7c620 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -418,6 +418,12 @@ void PX4RCOutput::_arm_actuators(bool arm)
     }
     _armed.lockdown = false;
     _armed.force_failsafe = false;
+
+    if (_actuator_armed_pub == nullptr) {
+        _actuator_armed_pub = orb_advertise(ORB_ID(actuator_armed), &_armed);
+    } else {
+        orb_publish(ORB_ID(actuator_armed), _actuator_armed_pub, &_armed);
+    }
 }
 
 void PX4RCOutput::_send_outputs(void)
@@ -464,6 +470,8 @@ void PX4RCOutput::_send_outputs(void)
             }
         }
         if (to_send > 0) {
+            _arm_actuators(true);
+            
             ::write(_pwm_fd, _period, to_send*sizeof(_period[0]));
         }
         if (_max_channel > _servo_count) {
diff --git a/libraries/AP_HAL_PX4/RCOutput.h b/libraries/AP_HAL_PX4/RCOutput.h
index 9cf2d45e5e..732d85a4fc 100644
--- a/libraries/AP_HAL_PX4/RCOutput.h
+++ b/libraries/AP_HAL_PX4/RCOutput.h
@@ -3,6 +3,7 @@
 #include "AP_HAL_PX4.h"
 #include <systemlib/perf_counter.h>
 #include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_armed.h>
 
 #define PX4_NUM_OUTPUT_CHANNELS 16
 
@@ -61,9 +62,10 @@ private:
     } _outputs[ORB_MULTI_MAX_INSTANCES] {};
     actuator_armed_s _armed;
 
-    orb_advert_t _actuator_direct_pub = nullptr;
-    uint16_t _esc_pwm_min = 0;
-    uint16_t _esc_pwm_max = 0;
+    orb_advert_t _actuator_direct_pub;
+    orb_advert_t _actuator_armed_pub;
+    uint16_t _esc_pwm_min;
+    uint16_t _esc_pwm_max;
 
     void _init_alt_channels(void);
     void _publish_actuators(void);