diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 00a466b2d5..78f8580b0d 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -499,9 +499,9 @@ MavlinkMissionManager::send()
 		return;
 	}
 
-	mission_result_s mission_result{};
 
-	if (_mission_result_sub.update(&mission_result)) {
+	if (_mission_result_sub.update()) {
+		const mission_result_s &mission_result = _mission_result_sub.get();
 
 		if (_current_seq != mission_result.seq_current) {
 
@@ -1925,11 +1925,7 @@ MavlinkMissionManager::update_mission_state()
 	}
 
 	// Get mission result
-	mission_result_s mission_result;
-
-	if (!_mission_result_sub.update(&mission_result)) {
-		return;
-	}
+	const mission_result_s &mission_result = _mission_result_sub.get();
 
 	// Update mission mode
 	if (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
@@ -1953,7 +1949,7 @@ MavlinkMissionManager::update_mission_state()
 		   && vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
 		_mission_state = MISSION_STATE_ACTIVE;
 
-	} else if (_mission_mode == MISSION_MODE_SUSPENDED && _last_reached >= 0) {
+	} else if (_mission_mode == MISSION_MODE_SUSPENDED && mission_result.seq_reached >= 0) {
 		// Only PAUSED if we were actually in the middle of a mission
 		_mission_state = MISSION_STATE_PAUSED;
 
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
index 2c26dec266..9983b83590 100644
--- a/src/modules/mavlink/mavlink_mission.h
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -148,7 +148,7 @@ private:
 
 	static bool		_transfer_in_progress;			///< Global variable checking for current transmission
 
-	uORB::Subscription	_mission_result_sub{ORB_ID(mission_result)};
+	uORB::SubscriptionData<mission_result_s>	_mission_result_sub{ORB_ID(mission_result)};
 	uORB::SubscriptionData<mission_s> 	_mission_sub{ORB_ID(mission)};
 	uORB::Subscription	_vehicle_status_sub{ORB_ID(vehicle_status)};	///< vehicle status subscription