diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 91f8681a27..4673ed6e72 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -593,9 +593,15 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 	} else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) {
 
 		uint16_t message_id = (uint16_t)roundf(vehicle_command.param1);
-		result = handle_request_message_command(message_id,
-							vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
-							vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
+
+		if (message_id == MAVLINK_MSG_ID_MESSAGE_INTERVAL) {
+			get_message_interval((int)(cmd_mavlink.param2 + 0.5f));
+
+		} else {
+			result = handle_request_message_command(message_id,
+								vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
+								vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
+		}
 
 	} else if (cmd_mavlink.command == MAV_CMD_INJECT_FAILURE) {
 		if (_mavlink.failure_injection_enabled()) {
@@ -2287,7 +2293,7 @@ MavlinkReceiver::set_message_interval(int msgId, float interval, float param3, f
 void
 MavlinkReceiver::get_message_interval(int msgId)
 {
-	unsigned interval = 0;
+	int interval = -1;
 
 	for (const auto &stream : _mavlink.get_streams()) {
 		if (stream->get_id() == msgId) {