diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 5cee18c8ab..9942c48d5e 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -2254,8 +2254,7 @@ protected:
 	{
 		camera_capture_s capture;
 
-		if (_capture_sub.update(&capture)) {
-
+		if ((_mavlink->get_free_tx_buf() >= get_size()) && _capture_sub.update(&capture)) {
 			mavlink_camera_image_captured_t msg{};
 
 			msg.time_boot_ms = capture.timestamp / 1000;