Recently, Steinberg used discrete Morse theory to give a new proof of a theorem of Symonds that the orbit space of the poset of nontrivial $p$-subgroups of a finite group is contractible. We extend Steinberg's argument in two ways, covering more general versions of the theorem that were already known. In particular, following a strategy of Libman, we give a discrete Morse theoretic argument for the contractibility of the orbit space of a saturated fusion system.