diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 8273f232cea17a094cd1191a83a5e8ce75ac28c0..6f1c04f82366ef20b380e5393f328991877e1c13 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -184,6 +184,7 @@ void MAVLinkProtocol::run()
     while(!_should_exit) {
 
         if (isFinished()) {
+            delete heartbeatTimer;
             qDebug() << "MAVLINK WORKER DONE!";
             return;
         }