diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index 67d4a20c1e..18b7248117 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -363,8 +363,6 @@ private:
 
 	// uORB subscription handlers
 	int _actuator_outputs_sub{-1};
-	int _manual_sub{-1};
-	int _vehicle_attitude_sub{-1};
 	int _vehicle_status_sub{-1};
 
 	// hil map_ref data
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 91023819be..d78882dc2c 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -802,8 +802,8 @@ void Simulator::poll_for_MAVLink_messages()
 
 #endif
 
-	// subscribe to topics
-	// only subscribe to the first actuator_outputs to fill a single HIL_ACTUATOR_CONTROLS
+	// Subscribe to topics.
+	// Only subscribe to the first actuator_outputs to fill a single HIL_ACTUATOR_CONTROLS.
 	_actuator_outputs_sub = orb_subscribe_multi(ORB_ID(actuator_outputs), 0);
 	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 
@@ -873,6 +873,9 @@ void Simulator::poll_for_MAVLink_messages()
 
 #endif
 	}
+
+	orb_unsubscribe(_actuator_outputs_sub);
+	orb_unsubscribe(_vehicle_status_sub);
 }