diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp
index 4de7228324..d432edd2b4 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.cpp
+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -88,6 +88,7 @@ MavlinkOrbSubscription::update(const hrt_abstime t)
 
 		if (_updated) {
 			orb_copy(_topic, _fd, _data);
+			_published = true;
 			return true;
 		}
 	}