diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp
index 45f716d40d..4073d2c482 100644
--- a/src/modules/mavlink/mavlink_stream.cpp
+++ b/src/modules/mavlink/mavlink_stream.cpp
@@ -118,11 +118,12 @@ MavlinkStream::update(const hrt_abstime t)
 		sent = send(t);
 #endif
 
-		// If the interval is non-zero do not use the actual time but
-		// increment at a fixed rate, so that processing delays do not
-		// distort the average rate
+		// If the interval is non-zero and dt is smaller than 1.5 times the interval
+		// do not use the actual time but increment at a fixed rate, so that processing delays do not
+		// distort the average rate. The check of the maximum interval is done to ensure that after a long time
+		// not sending anything multiple messages in a short time are sent.
 		if (sent) {
-			_last_sent = (interval > 0) ? _last_sent + interval : t;
+			_last_sent = ((interval > 0) && ((int64_t)(1.5 * interval) > dt)) ? _last_sent + interval : t;
 			return 0;
 
 		} else {