diff --git a/platforms/nuttx/src/px4/nxp/imx9/px4io_serial/px4io_serial.cpp b/platforms/nuttx/src/px4/nxp/imx9/px4io_serial/px4io_serial.cpp
index 5d3403bef045..5fc5bedc63ea 100644
--- a/platforms/nuttx/src/px4/nxp/imx9/px4io_serial/px4io_serial.cpp
+++ b/platforms/nuttx/src/px4/nxp/imx9/px4io_serial/px4io_serial.cpp
@@ -77,6 +77,7 @@ ArchPX4IOSerial::~ArchPX4IOSerial()
 {
 	/* Stop any ongoing DMA transfer */
 
+	_waiting_for_dma = false;
 	_stop_dma();
 
 	/* Detach our interrupt handler */
@@ -261,14 +262,15 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 
 	ret = nxsem_tickwait_uninterruptible(&_recv_sem, MSEC2TICK(10));
 
-	if (ret == -ETIMEDOUT) {
+	if (ret != OK) {
+		_waiting_for_dma = false;
 		_stop_dma();
+
 		nxsem_reset(&_recv_sem, 0);
 		perf_count(_pc_timeouts);
 		perf_cancel(_pc_txns); /* don't count this as a transaction */
-	}
 
-	if (ret == OK) {
+	} else {
 		/* Check packet CRC */
 
 		uint8_t crc = _current_packet->crc;
@@ -348,7 +350,7 @@ ArchPX4IOSerial::_do_interrupt()
 		 * call the callback function. Stopping a non-running dma has no effect.
 		 */
 
-		imx9_dmach_stop(_rx_dma);
+		_stop_dma();
 	}
 
 	/* count uart errors */
@@ -361,10 +363,6 @@ ArchPX4IOSerial::_do_interrupt()
 void
 ArchPX4IOSerial::_stop_dma()
 {
-	/* Mark that we don't care about any DMA data any more */
-
-	_waiting_for_dma = false;
-
 	/* Stop the DMA channels */
 
 	imx9_dmach_stop(_tx_dma);
@@ -375,8 +373,4 @@ ArchPX4IOSerial::_stop_dma()
 	while (getreg32(PX4IO_SERIAL_BASE + IMX9_LPUART_STAT_OFFSET) & LPUART_STAT_RDRF) {
 		getreg32(PX4IO_SERIAL_BASE + IMX9_LPUART_DATA_OFFSET);
 	}
-
-	/* Clear any error status flags */
-
-	modreg32(ERR_FLAGS_MASK, ERR_FLAGS_MASK, PX4IO_SERIAL_BASE + IMX9_LPUART_STAT_OFFSET);
 }