diff --git a/core/AuxTaskNonRT.cpp b/core/AuxTaskNonRT.cpp
index 01204d2a5..1af536f24 100644
--- a/core/AuxTaskNonRT.cpp
+++ b/core/AuxTaskNonRT.cpp
@@ -6,6 +6,11 @@
 #include <stdlib.h>
 #include <errno.h>
 
+AuxTaskNonRT::AuxTaskNonRT(){}
+AuxTaskNonRT::~AuxTaskNonRT(){
+	cleanup();
+}
+
 void AuxTaskNonRT::create(std::string _name, void(*_callback)()){
 	name = _name;
 	empty_callback = _callback;
@@ -110,13 +115,12 @@ void AuxTaskNonRT::cleanup(){
 	rt_pipe_delete(&pipe);
 #endif
 #ifdef XENOMAI_SKIN_posix
-	// TODO: someone needs to be done to terminate the tasks appropriately
-	// Currently they are probably just hanging on the pipes
-	// However the three lines below cause a segfault after the first time they are run
-	// char ptr[1];
-	// int ret = __wrap_sendto(pipeSocket, ptr, 1, 0, NULL, 0); // unblock the pipe
-	// pthread_cancel(thread);
-	// also we should join them!
+	// unblock and join thread
+	schedule();
+	int ret = __wrap_pthread_join(thread, NULL);
+	if (ret < 0){
+		fprintf(stderr, "AuxTaskNonRT %s: unable to join thread: (%i) %s\n", name.c_str(), ret, strerror(ret));
+	}
 #endif
 }
 
@@ -139,6 +143,8 @@ void AuxTaskNonRT::empty_loop(){
 	void* buf = malloc(1);
 	while(!gShouldStop){
 		read(pipe_fd, buf, 1);
+		if (gShouldStop)
+			break;
 		empty_callback();
 	}
 	free(buf);
@@ -147,6 +153,8 @@ void AuxTaskNonRT::str_loop(){
 	void* buf = malloc(AUX_MAX_BUFFER_SIZE);
 	while(!gShouldStop){
 		read(pipe_fd, buf, AUX_MAX_BUFFER_SIZE);
+		if (gShouldStop)
+			break;
 		str_callback((const char*)buf);
 	}
 	free(buf);
@@ -155,6 +163,8 @@ void AuxTaskNonRT::buf_loop(){
 	void* buf = malloc(AUX_MAX_BUFFER_SIZE);
 	while(!gShouldStop){
 		ssize_t size = read(pipe_fd, buf, AUX_MAX_BUFFER_SIZE);
+		if (gShouldStop)
+			break;
 		buf_callback(buf, size);
 	}
 	free(buf);
@@ -163,6 +173,8 @@ void AuxTaskNonRT::ptr_loop(){
 	void* buf = malloc(1);
 	while(!gShouldStop){
 		read(pipe_fd, buf, 1);
+		if (gShouldStop)
+			break;
 		ptr_callback(pointer);
 	}
 	free(buf);
@@ -171,6 +183,8 @@ void AuxTaskNonRT::ptr_buf_loop(){
 	void* buf = malloc(AUX_MAX_BUFFER_SIZE);
 	while(!gShouldStop){
 		ssize_t size = read(pipe_fd, buf, AUX_MAX_BUFFER_SIZE);
+		if (gShouldStop)
+			break;
 		ptr_buf_callback(pointer, buf, size);
 	}
 	free(buf);
@@ -193,4 +207,5 @@ void AuxTaskNonRT::loop(void* ptr){
 	} else if (instance->mode == 4){
 		instance->ptr_buf_loop();
 	}
+	// printf("AuxTaskNonRT %s exiting\n", instance->name.c_str());
 }
diff --git a/core/AuxTaskRT.cpp b/core/AuxTaskRT.cpp
index 498a7377d..d912e131c 100644
--- a/core/AuxTaskRT.cpp
+++ b/core/AuxTaskRT.cpp
@@ -4,6 +4,11 @@
 #include <Bela.h>
 #include <stdlib.h>
 
+AuxTaskRT::AuxTaskRT(){}
+AuxTaskRT::~AuxTaskRT(){
+	cleanup();
+}
+
 void AuxTaskRT::create(std::string _name, void (*_callback)(), int _priority){
 	name = _name;
 	priority = _priority;
@@ -116,7 +121,13 @@ void AuxTaskRT::cleanup(){
 	rt_queue_delete(&queue);
 #endif
 #ifdef XENOMAI_SKIN_posix
-	//pthread_cancel(thread);
+	// unblock and join thread
+	schedule();
+	int ret = __wrap_pthread_join(thread, NULL);
+	if (ret < 0){
+		fprintf(stderr, "AuxTaskNonRT %s: unable to join thread: (%i) %s\n", name.c_str(), ret, strerror(ret));
+	}
+	
 	__wrap_mq_close(queueDesc);
 	__wrap_mq_unlink(queueName.c_str());
 #endif
@@ -264,4 +275,5 @@ void AuxTaskRT::loop(void* ptr){
 	} else if (instance->mode == 4){
 		instance->ptr_buf_loop();
 	}
+	// printf("AuxTaskRT %s exiting\n", instance->name.c_str());
 }
diff --git a/include/AuxTaskNonRT.h b/include/AuxTaskNonRT.h
index f3ec8ca50..7d825d380 100644
--- a/include/AuxTaskNonRT.h
+++ b/include/AuxTaskNonRT.h
@@ -18,7 +18,8 @@
 
 class AuxTaskNonRT{
 	public:
-		AuxTaskNonRT(){}
+		AuxTaskNonRT();
+		~AuxTaskNonRT();
 		
 		void create(std::string _name, void(*_callback)());
 		void create(std::string _name, void(*_callback)(const char* str));
@@ -30,9 +31,9 @@ class AuxTaskNonRT{
 		void schedule(const char* str);
 		void schedule();
 		
+	private:
 		void cleanup();
 		
-	private:
 #ifdef XENOMAI_SKIN_native
 		RT_TASK task;
 		RT_PIPE pipe;
diff --git a/include/AuxTaskRT.h b/include/AuxTaskRT.h
index 1f8ea7987..939d1173b 100644
--- a/include/AuxTaskRT.h
+++ b/include/AuxTaskRT.h
@@ -22,7 +22,8 @@
 
 class AuxTaskRT{
 	public:
-		AuxTaskRT(){}
+		AuxTaskRT();
+		~AuxTaskRT();
 		
 		void create(std::string _name, void(*_callback)(), int _priority = BELA_AUDIO_PRIORITY-5);
 		void create(std::string _name, void(*_callback)(const char* str), int _priority = BELA_AUDIO_PRIORITY-5);
@@ -34,9 +35,9 @@ class AuxTaskRT{
 		void schedule(const char* str);
 		void schedule();
 		
+	private:
 		void cleanup();
 		
-	private:
 #ifdef XENOMAI_SKIN_native
 		RT_TASK task;
 		RT_QUEUE queue;