diff --git a/resources/external_control.urscript b/resources/external_control.urscript
index 164db7358..2462f3517 100644
--- a/resources/external_control.urscript
+++ b/resources/external_control.urscript
@@ -1083,6 +1083,13 @@ while control_mode > MODE_STOPPED:
     end
   else:
     textmsg("Socket timed out waiting for command on reverse_socket. The script will exit now.")
+    if control_mode == MODE_FREEDRIVE:
+      end_freedrive_mode()
+    end
+    control_mode = MODE_STOPPED
+    kill thread_move
+    kill thread_trajectory
+    kill thread_script_commands
     stopj(STOPJ_ACCELERATION)
     halt
   end