diff --git a/src/modules/mavlink/streams/COMMAND_LONG.hpp b/src/modules/mavlink/streams/COMMAND_LONG.hpp
index bd36968110..f216c34810 100644
--- a/src/modules/mavlink/streams/COMMAND_LONG.hpp
+++ b/src/modules/mavlink/streams/COMMAND_LONG.hpp
@@ -74,7 +74,16 @@ private:
 						_vehicle_command_sub.get_last_generation());
 				}
 
-				if (!cmd.from_external && cmd.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
+				// mavlink mavlink commands are <= UINT16_MAX
+				const bool px4_internal_cmd = (cmd.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START);
+
+				// internal commands
+				const bool target_system_internal = (cmd.target_system == _mavlink->get_system_id())
+								    && (cmd.target_component == _mavlink->get_component_id())
+								    && (cmd.source_system == cmd.target_system)
+								    && (cmd.source_component == cmd.target_component);
+
+				if (!cmd.from_external && !px4_internal_cmd && !target_system_internal) {
 					PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
 
 					MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());