diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 417975faabd..42b7ba00e62 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -912,7 +912,6 @@ Mavlink::send_bytes(const uint8_t *buf, unsigned packet_len)
 	/* If the wait until transmit flag is on, only transmit after we've received messages.
 	   Otherwise, transmit all the time. */
 	if (!should_transmit()) {
-		warnx("not transmitting");
 		return;
 	}
 
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 6026acf793d..2687cc20593 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -327,7 +327,7 @@ public:
 	bool			get_has_received_messages() { return _received_messages; }
 	void			set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
 	bool			get_wait_to_transmit() { return _wait_to_transmit; }
-	bool			should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
+	bool			should_transmit() { return (_boot_complete && (!_wait_to_transmit || (_wait_to_transmit && _received_messages))); }
 
 	bool			message_buffer_write(const void *ptr, int size);