diff --git a/msg/transponder_report.msg b/msg/transponder_report.msg
index c02fb8cc15..3d13a42d4a 100644
--- a/msg/transponder_report.msg
+++ b/msg/transponder_report.msg
@@ -11,3 +11,5 @@ uint8 emitter_type 	# Type from ADSB_EMITTER_TYPE enum
 uint8 tslc 		# Time since last communication in seconds
 uint16 flags 		# Flags to indicate various statuses including valid data fields
 uint16 squawk 		# Squawk code
+
+uint32 ORB_QUEUE_LENGTH = 3
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 542a444e4b..31d9c0bf7c 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1178,6 +1178,11 @@ public:
 		return new MavlinkStreamADSBVehicle(mavlink);
 	}
 
+	virtual bool const_rate()
+	{
+		return true;
+	}
+
 	unsigned get_size()
 	{
 		return (_pos_time > 0) ? MAVLINK_MSG_ID_ADSB_VEHICLE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
@@ -1201,7 +1206,7 @@ protected:
 	{
 		struct transponder_report_s pos;
 
-		if (_pos_sub->update(&_pos_time, &pos)) {
+		while (_pos_sub->update(&_pos_time, &pos)) {
 			mavlink_adsb_vehicle_t msg = {};
 
 			msg.ICAO_address = pos.ICAO_address;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 154b23ba13..ef958194b4 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2087,7 +2087,7 @@ void MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
 	//warnx("code: %d callsign: %s, vel: %8.4f", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity);
 
 	if (_transponder_report_pub == nullptr) {
-		_transponder_report_pub = orb_advertise(ORB_ID(transponder_report), &t);
+		_transponder_report_pub = orb_advertise_queue(ORB_ID(transponder_report), &t, transponder_report_s::ORB_QUEUE_LENGTH);
 
 	} else {
 		orb_publish(ORB_ID(transponder_report), _transponder_report_pub, &t);