diff --git a/src/modules/systemlib/mavlink_log.c b/src/modules/systemlib/mavlink_log.c
index 311e7d8c91..33d463f502 100644
--- a/src/modules/systemlib/mavlink_log.c
+++ b/src/modules/systemlib/mavlink_log.c
@@ -47,6 +47,7 @@
 #include <uORB/topics/mavlink_log.h>
 #include "mavlink_log.h"
 
+#define MAVLINK_LOG_QUEUE_SIZE 5
 
 
 __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, const char *fmt, ...)
@@ -79,7 +80,9 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
 		orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);
 
 	} else {
-		*mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg);
+		*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log),
+						       &log_msg,
+						       MAVLINK_LOG_QUEUE_SIZE);
 	}
 }