diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 3a2acd07c36..a23b3f8736a 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -115,6 +115,8 @@ extern mavlink_system_t mavlink_system;
 
 static void usage(void);
 
+bool Mavlink::_boot_complete = false;
+
 Mavlink::Mavlink() :
 	_device_name(DEFAULT_DEVICE_NAME),
 	_task_should_exit(false),
@@ -1909,6 +1911,10 @@ int mavlink_main(int argc, char *argv[])
 	} else if (!strcmp(argv[1], "stream")) {
 		return Mavlink::stream_command(argc, argv);
 
+	} else if (!strcmp(argv[1], "boot_complete")) {
+		Mavlink::set_boot_complete();
+		return 0;
+
 	} else {
 		usage();
 		exit(1);
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 777836f6880..5ecf8e69565 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -145,6 +145,14 @@ public:
 
 	bool			get_forwarding_on() { return _forwarding_on; }
 
+	/**
+	 * Set the boot complete flag on all instances
+	 *
+	 * Setting the flag unblocks parameter transmissions, which are gated
+	 * beforehand to ensure that the system is fully initialized.
+	 */
+	static void		set_boot_complete() { _boot_complete = true; }
+
 	/**
 	 * Get the free space in the transmit buffer
 	 *
@@ -294,6 +302,8 @@ public:
 
 	unsigned		get_system_type() { return _system_type; }
 
+	static bool		boot_complete() { return _boot_complete; }
+
 protected:
 	Mavlink			*next;
 
@@ -302,6 +312,7 @@ private:
 
 	int			_mavlink_fd;
 	bool			_task_running;
+	static bool		_boot_complete;
 
 	/* states */
 	bool			_hil_enabled;		/**< Hardware In the Loop mode */
diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index 73d7580d219..66c6a871762 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -193,7 +193,7 @@ void
 MavlinkParametersManager::send(const hrt_abstime t)
 {
 	/* send all parameters if requested, but only after the system has booted */
-	if (_send_all_index >= 0 && t > 4 * 1000 * 1000) {
+	if (_send_all_index >= 0 && _mavlink->boot_complete()) {
 
 		/* skip if no space is available */
 		if (_mavlink->get_free_tx_buf() < get_size()) {