diff --git a/app/main.cpp b/app/main.cpp
index ae7f34f9f..012367b82 100755
--- a/app/main.cpp
+++ b/app/main.cpp
@@ -395,11 +395,10 @@ int main(int argc, char *argv[]) {
     MavlinkTelemetry::instance().start();
 
     QRenderStats::instance().register_to_root_window(engine);
-
     LogMessagesModel::instanceGround().addLogMessage("QOpenHD","running");
     const int retval = app.exec();
-
+    // Terminating needs a bit of special care due to the singleton usage and threads
+    qDebug()<<"Terminating";
+    MavlinkTelemetry::instance().terminate();
     return retval;
-
-
 }
diff --git a/app/telemetry/MavlinkTelemetry.cpp b/app/telemetry/MavlinkTelemetry.cpp
index c656f5f6c..2bd491822 100644
--- a/app/telemetry/MavlinkTelemetry.cpp
+++ b/app/telemetry/MavlinkTelemetry.cpp
@@ -38,13 +38,27 @@ void MavlinkTelemetry::start()
     m_heartbeat_thread=std::make_unique<std::thread>(&MavlinkTelemetry::send_heartbeat_loop,this);
 }
 
-MavlinkTelemetry::~MavlinkTelemetry()
+void MavlinkTelemetry::terminate()
 {
+    // first stop any incoming telemetry
     if(m_heartbeat_thread){
         m_heartbeat_thread_run=false;
         m_heartbeat_thread->join();
         m_heartbeat_thread=nullptr;
     }
+    m_udp_connection=nullptr;
+    m_tcp_connection=nullptr;
+    // Cleanup those 2 threads
+    CmdSender::instance().terminate();
+    XParam::instance().terminate();
+    qDebug()<<"MavlinkTelemetry::stopped";
+}
+
+MavlinkTelemetry::~MavlinkTelemetry()
+{
+    qDebug()<<"MavlinkTelemetry::~() begin";
+    terminate();
+    qDebug()<<"MavlinkTelemetry::~() end";
 }
 
 MavlinkTelemetry &MavlinkTelemetry::instance()
diff --git a/app/telemetry/MavlinkTelemetry.h b/app/telemetry/MavlinkTelemetry.h
index d234499f0..edef2c436 100644
--- a/app/telemetry/MavlinkTelemetry.h
+++ b/app/telemetry/MavlinkTelemetry.h
@@ -35,7 +35,10 @@ class MavlinkTelemetry : public QObject
     MavlinkTelemetry(QObject *parent = nullptr);
     ~MavlinkTelemetry();
     static MavlinkTelemetry& instance();
+    // start / terminate needs a bit of care due to singleton usage,
+    // not clean, but works
     void start();
+    void terminate();
     /**
      * Send a message to the OHD ground unit. If no connection has been established (yet), this should return immediately.
      * The message can be aimed at either the OHD ground unit, the OHD air unit (forwarded by OpenHD) or the FC connected to the
diff --git a/app/telemetry/action/impl/cmdsender.cpp b/app/telemetry/action/impl/cmdsender.cpp
index 8200816e2..5954408d3 100644
--- a/app/telemetry/action/impl/cmdsender.cpp
+++ b/app/telemetry/action/impl/cmdsender.cpp
@@ -16,9 +16,16 @@ CmdSender::CmdSender()
 
 CmdSender::~CmdSender()
 {
-    m_timeout_thread_run=false;
-    m_timeout_thread->join();
-    m_timeout_thread=nullptr;
+    terminate();
+}
+
+void CmdSender::terminate()
+{
+    if(m_timeout_thread){
+        m_timeout_thread_run=false;
+        m_timeout_thread->join();
+        m_timeout_thread=nullptr;
+    }
 }
 
 CmdSender &CmdSender::instance()
@@ -178,7 +185,7 @@ void CmdSender::send_mavlink_command_long(const mavlink_command_long_t &cmd)
 
 void CmdSender::loop_timeout()
 {
-    while(true){
+    while(m_timeout_thread_run){
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         handle_timeout();
     }
diff --git a/app/telemetry/action/impl/cmdsender.h b/app/telemetry/action/impl/cmdsender.h
index 7a14704dc..bb8483e37 100644
--- a/app/telemetry/action/impl/cmdsender.h
+++ b/app/telemetry/action/impl/cmdsender.h
@@ -18,6 +18,7 @@ class CmdSender
 public:
     CmdSender();
     ~CmdSender();
+    void terminate();
     static CmdSender& instance();
     /**
      * returns true if this message has been consumed, false otherwise.
diff --git a/app/telemetry/action/impl/xparam.cpp b/app/telemetry/action/impl/xparam.cpp
index 712989ae3..6c8f78c55 100644
--- a/app/telemetry/action/impl/xparam.cpp
+++ b/app/telemetry/action/impl/xparam.cpp
@@ -17,9 +17,16 @@ XParam::XParam()
 
 XParam::~XParam()
 {
-    m_timeout_thread_run=false;
-    m_timeout_thread->join();
-    m_timeout_thread=nullptr;
+    terminate();
+}
+
+void XParam::terminate()
+{
+    if(m_timeout_thread){
+        m_timeout_thread_run=false;
+        m_timeout_thread->join();
+        m_timeout_thread=nullptr;
+    }
 }
 
 XParam &XParam::instance()
@@ -400,7 +407,7 @@ void XParam::update_progress_get_all(const RunningParamCmdGetAll &cmd)
 
 void XParam::loop_timeout()
 {
-    while(true){
+    while(m_timeout_thread_run){
         std::this_thread::sleep_for(std::chrono::milliseconds(100));
         check_timeout_param_get_all();
         check_timeout_param_set();
diff --git a/app/telemetry/action/impl/xparam.h b/app/telemetry/action/impl/xparam.h
index b80b7da44..ecc7ed95a 100644
--- a/app/telemetry/action/impl/xparam.h
+++ b/app/telemetry/action/impl/xparam.h
@@ -16,6 +16,7 @@ class XParam
 public:
     explicit XParam();
     ~XParam();
+    void terminate();
     static XParam& instance();
     /**
      * returns true if this message has been consumed, false otherwise.
diff --git a/app/videostreaming/avcodec/avcodec_decoder.cpp b/app/videostreaming/avcodec/avcodec_decoder.cpp
index 602486c2b..a67945f9a 100644
--- a/app/videostreaming/avcodec/avcodec_decoder.cpp
+++ b/app/videostreaming/avcodec/avcodec_decoder.cpp
@@ -100,6 +100,7 @@ void AVCodecDecoder::terminate()
         // Wait for everything to cleanup and stop
         decode_thread->join();
     }
+    qDebug()<<"Decoding terminated";
 }
 
 void AVCodecDecoder::timer_check_settings_changed_callback()
@@ -158,7 +159,8 @@ void AVCodecDecoder::constant_decode()
             }
         }
         qDebug()<<"Decode stopped,restarting";
-        std::this_thread::sleep_for(std::chrono::seconds(1));
+        // wait a bit before starting again, to save CPU
+        if(!m_should_terminate)std::this_thread::sleep_for(std::chrono::seconds(1));
     }
 }