diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 3c868b9be9..9ab591f997 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -163,7 +163,10 @@ Mavlink::~Mavlink()
 	}
 
 	if (_instance_id >= 0) {
-		mavlink_module_instances[_instance_id] = nullptr;
+		{
+			LockGuard lg{mavlink_module_mutex};
+			mavlink_module_instances[_instance_id] = nullptr;
+		}
 		mavlink_instance_count.fetch_sub(1);
 	}
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index c913909657..4bccb35b52 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -3160,7 +3160,7 @@ MavlinkReceiver::run()
 	ssize_t nread = 0;
 	hrt_abstime last_send_update = 0;
 
-	while (!_mavlink.should_exit()) {
+	while (!_should_exit.load()) {
 
 		// check for parameter updates
 		if (_parameter_update_sub.updated()) {