diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 4e0597e80d..52cae2085d 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -965,7 +965,8 @@ void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
 	state->timestamp_lastaction = 0;
 	state->timestamp_last_send_setpoint = 0;
 	state->timestamp_last_send_request = 0;
-	state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
+	state->action_timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
+	state->retry_timeout = MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT;
 
 	int sys_state_size = dm_read(DM_KEY_SYSTEM_STATE, 0, &sys_state, sizeof(sys_state));
 	if (sys_state_size == sizeof(sys_state)) {
@@ -1138,7 +1139,7 @@ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq)
 void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
 {
 	/* check for timed-out operations */
-	if (now - _wpm->timestamp_lastaction > _wpm->timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
+	if (now - _wpm->timestamp_lastaction > _wpm->action_timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
 
 		mavlink_missionlib_send_gcs_string("Operation timeout");
 
@@ -1148,7 +1149,7 @@ void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
 		_wpm->current_partner_sysid = 0;
 		_wpm->current_partner_compid = 0;
 
-	} else if (now - _wpm->timestamp_last_send_request > 500000 && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
+	} else if (now - _wpm->timestamp_last_send_request > _wpm->retry_timeout && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
 		/* try to get WP again after short timeout */
 		mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
 	}
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index fbb25029d7..e31bbbb318 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -78,8 +78,9 @@ enum MAVLINK_WPM_CODES {
 
 
 #define MAVLINK_WPM_MAX_WP_COUNT 255
-#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
-#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
+#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000    ///< Protocol communication action timeout in useconds
+#define MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT 500000        ///< Protocol communication retry timeout in useconds
+#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000      ///< When to send a new setpoint
 #define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
 
 
@@ -96,7 +97,8 @@ struct mavlink_wpm_storage {
 	uint64_t timestamp_lastaction;
 	uint64_t timestamp_last_send_setpoint;
 	uint64_t timestamp_last_send_request;
-	uint32_t timeout;
+	uint32_t action_timeout;
+	uint32_t retry_timeout;
 };
 
 
diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h
index 532eff7aa1..a2109f2d85 100644
--- a/src/modules/mavlink/waypoints.h
+++ b/src/modules/mavlink/waypoints.h
@@ -88,7 +88,7 @@ struct mavlink_wpm_storage {
 	uint8_t current_partner_compid;
 	uint64_t timestamp_lastaction;
 	uint64_t timestamp_last_send_setpoint;
-	uint32_t timeout;
+	uint32_t action_timeout;
 	int current_dataman_id;
 };