diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
index 30d23672cb66..757c8d28a8eb 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
@@ -512,7 +512,10 @@ void process_capture_results(void *arg)
 	}
 
 	if (_erpm_callback != NULL) {
-		_erpm_callback(_erpms, 4, _erpm_callback_context);
+		// Only publish every 4th time once all measurements have come in.
+		if (_motor_to_capture == 3) {
+			_erpm_callback(_erpms, 4, _erpm_callback_context);
+		}
 	}
 
 	_motor_to_capture = (_motor_to_capture + 1) % 4;
diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
index 2cd046dde684..3cd14b4787d1 100644
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -622,6 +622,7 @@ void DShot::erpm_trampoline(uint32_t erpms[], size_t num_erpms, void *context)
 
 void DShot::erpm(uint32_t erpms[], size_t num_erpms)
 {
+	// TODO: this is hard-coded to 4 motors
 	esc_status_s &esc_status = _esc_status_pub.get();
 	esc_status = {};
 	esc_status.timestamp = hrt_absolute_time();