diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index eef12c3e87..7da967948d 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -461,7 +461,7 @@ protected:
 		struct vehicle_command_s cmd;
 		bool sent = false;
 
-		if (_cmd_sub->update(&_cmd_time, &cmd)) {
+		if (_cmd_sub->update_if_changed(&cmd)) {
 
 			if (!cmd.from_external) {
 				if (_mavlink->verbose()) {