diff --git a/pid/pidloop.cpp b/pid/pidloop.cpp
index f613c7e..9eed3a8 100644
--- a/pid/pidloop.cpp
+++ b/pid/pidloop.cpp
@@ -57,6 +57,11 @@
     timer.expires_after(std::chrono::milliseconds(100));
     timer.async_wait(
         [zone, &timer, ms100cnt](const boost::system::error_code& ec) mutable {
+            if (ec == boost::asio::error::operation_aborted)
+            {
+                return; // timer being canceled, stop loop
+            }
+
             /*
              * This should sleep on the conditional wait for the listen thread
              * to tell us it's in sync.  But then we also need a timeout option