diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 5498dea466..26e354f145 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -427,6 +427,8 @@ public:
 
 	bool			accepting_commands() { return true; /* non-trivial side effects ((!_config_link_on) || (_mode == MAVLINK_MODE_CONFIG));*/ }
 
+	bool			verbose() { return _verbose; }
+
 	int				get_data_rate() { return _datarate; }
 	void			set_data_rate(int rate) { if (rate > 0) { _datarate = rate; } }
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 33f0a8c06c..dbc9f5eb1e 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -458,11 +458,17 @@ protected:
 			/* only send commands for other systems/components, don't forward broadcast commands */
 			if ((cmd.target_system != mavlink_system.sysid || cmd.target_component != mavlink_system.compid) &&
 			    (cmd.target_component != MAV_COMP_ID_ALL)) {
-				PX4_INFO("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
+
+				if (_mavlink->verbose()) {
+					PX4_INFO("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
+				}
+
 				MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
 
 			} else {
-				PX4_INFO("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
+				if (_mavlink->verbose()) {
+					PX4_INFO("not forwarding command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
+				}
 			}
 		}
 
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 72a02c55af..9c18d4a742 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -87,7 +87,7 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
 	_mission_result_sub(-1),
 	_offboard_mission_pub(nullptr),
 	_slow_rate_limiter(100 * 1000), // Rate limit sending of the current WP sequence to 10 Hz
-	_verbose(false),
+	_verbose(mavlink->verbose()),
 	_mavlink(mavlink)
 {
 	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
@@ -385,10 +385,14 @@ MavlinkMissionManager::send(const hrt_abstime now)
 		   && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
 		if (_transfer_seq == 0) {
 			/* try to send items count again after timeout */
+			if (_verbose) { warnx("WPM: send count timeout"); }
+
 			send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count);
 
 		} else {
 			/* try to send item again after timeout */
+			if (_verbose) { warnx("WPM: item re-send timeout"); }
+
 			send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1);
 		}