diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 6501db8591..969c882f51 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2336,76 +2336,82 @@ MavlinkReceiver::handle_message_utm_global_position(mavlink_message_t *msg)
 	mavlink_utm_global_position_t utm_pos;
 	mavlink_msg_utm_global_position_decode(msg, &utm_pos);
 
-	px4_guid_t px4_guid;
+	bool is_self_published = false;
+
+
 #ifndef BOARD_HAS_NO_UUID
+	px4_guid_t px4_guid;
 	board_get_px4_guid(px4_guid);
+	is_self_published = sizeof(px4_guid) == sizeof(utm_pos.uas_id)
+			    && memcmp(px4_guid, utm_pos.uas_id, sizeof(px4_guid_t)) == 0;
 #else
-	// TODO Fill ID with something reasonable
-	memset(&px4_guid[0], 0, sizeof(px4_guid));
+
+	is_self_published = msg->sysid == _mavlink->get_system_id();
 #endif /* BOARD_HAS_NO_UUID */
 
 
 	//Ignore selfpublished UTM messages
-	if (sizeof(px4_guid) == sizeof(utm_pos.uas_id) && memcmp(px4_guid, utm_pos.uas_id, sizeof(px4_guid_t)) != 0) {
-
-		// Convert cm/s to m/s
-		float vx = utm_pos.vx / 100.0f;
-		float vy = utm_pos.vy / 100.0f;
-		float vz = utm_pos.vz / 100.0f;
-
-		transponder_report_s t{};
-		t.timestamp = hrt_absolute_time();
-		mav_array_memcpy(t.uas_id, utm_pos.uas_id, sizeof(px4_guid_t));
-		t.lat = utm_pos.lat * 1e-7;
-		t.lon = utm_pos.lon * 1e-7;
-		t.altitude = utm_pos.alt / 1000.0f;
-		t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC;
-		// UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s.
-		t.heading = atan2f(vy, vx);
-		t.hor_velocity = sqrtf(vy * vy + vx * vx);
-		t.ver_velocity = -vz;
-		// TODO: Callsign
-		// For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null
-		// terminator could cause problems.
-		memset(&t.callsign[0], 0, sizeof(t.callsign));
-		t.emitter_type = ADSB_EMITTER_TYPE_UAV;  // TODO: Is this correct?x2?
-
-		// The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of
-		// an 8-bit int, or if this is the first communication.
-		// Here, I assume that if this is the first communication, tslc = 0.
-		// If tslc > 255, then tslc = 255.
-		unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000;
-
-		if (_last_utm_global_pos_com == 0) {
-			time_passed = 0;
-
-		} else if (time_passed > UINT8_MAX) {
-			time_passed = UINT8_MAX;
-		}
-
-		t.tslc = (uint8_t) time_passed;
-
-		t.flags = 0;
-
-		if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) {
-			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS;
-		}
-
-		if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) {
-			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
-		}
-
-		if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) {
-			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
-			t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
-		}
-
-		// Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not
-		// provide these.
-		_transponder_report_pub.publish(t);
-
-		_last_utm_global_pos_com = t.timestamp;
+	if (is_self_published) {
+		return;
 	}
+
+	// Convert cm/s to m/s
+	float vx = utm_pos.vx / 100.0f;
+	float vy = utm_pos.vy / 100.0f;
+	float vz = utm_pos.vz / 100.0f;
+
+	transponder_report_s t{};
+	t.timestamp = hrt_absolute_time();
+	mav_array_memcpy(t.uas_id, utm_pos.uas_id, PX4_GUID_BYTE_LENGTH);
+	t.lat = utm_pos.lat * 1e-7;
+	t.lon = utm_pos.lon * 1e-7;
+	t.altitude = utm_pos.alt / 1000.0f;
+	t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC;
+	// UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s.
+	t.heading = atan2f(vy, vx);
+	t.hor_velocity = sqrtf(vy * vy + vx * vx);
+	t.ver_velocity = -vz;
+	// TODO: Callsign
+	// For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null
+	// terminator could cause problems.
+	memset(&t.callsign[0], 0, sizeof(t.callsign));
+	t.emitter_type = ADSB_EMITTER_TYPE_UAV;  // TODO: Is this correct?x2?
+
+	// The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of
+	// an 8-bit int, or if this is the first communication.
+	// Here, I assume that if this is the first communication, tslc = 0.
+	// If tslc > 255, then tslc = 255.
+	unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000;
+
+	if (_last_utm_global_pos_com == 0) {
+		time_passed = 0;
+
+	} else if (time_passed > UINT8_MAX) {
+		time_passed = UINT8_MAX;
+	}
+
+	t.tslc = (uint8_t) time_passed;
+
+	t.flags = 0;
+
+	if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) {
+		t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS;
+	}
+
+	if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) {
+		t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
+	}
+
+	if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) {
+		t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
+		t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
+	}
+
+	// Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not
+	// provide these.
+	_transponder_report_pub.publish(t);
+
+	_last_utm_global_pos_com = t.timestamp;
 }
 
 void