diff --git a/libraries/AP_HAL_ESP32/Scheduler.cpp b/libraries/AP_HAL_ESP32/Scheduler.cpp
index 39413f9331b2b..4f64ddfb6893f 100644
--- a/libraries/AP_HAL_ESP32/Scheduler.cpp
+++ b/libraries/AP_HAL_ESP32/Scheduler.cpp
@@ -140,6 +140,9 @@ void IRAM_ATTR Scheduler::thread_create_trampoline(void *ctx)
     AP_HAL::MemberProc *t = (AP_HAL::MemberProc *)ctx;
     (*t)();
     free(t);
+
+    // delete the calling task
+    vTaskDelete(NULL);
 }
 
 /*