diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index aa3013d987..bc1948865b 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -604,7 +604,7 @@ private:
     void param_io_timer(void);
     
     // send an async parameter reply
-    void send_parameter_reply(void);
+    bool send_parameter_reply(void);
 
     void send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const;
 
diff --git a/libraries/GCS_MAVLink/GCS_Param.cpp b/libraries/GCS_MAVLink/GCS_Param.cpp
index a78c0d29aa..96aa9dc74d 100644
--- a/libraries/GCS_MAVLink/GCS_Param.cpp
+++ b/libraries/GCS_MAVLink/GCS_Param.cpp
@@ -39,13 +39,6 @@ GCS_MAVLINK::queued_param_send()
         return;
     }
 
-    // send one parameter async reply if pending
-    send_parameter_reply();
-
-    if (_queued_parameter == nullptr) {
-        return;
-    }
-
     uint32_t tnow = AP_HAL::millis();
     uint32_t tstart = AP_HAL::micros();
 
@@ -69,7 +62,18 @@ GCS_MAVLINK::queued_param_send()
         count = 5;
     }
 
-    while (_queued_parameter != nullptr && count--) {
+    // send parameter async replies
+    while (count && send_parameter_reply()) {
+        // do nothing
+        _queued_parameter_send_time_ms = tnow;
+        count--;
+    }
+
+    if (_queued_parameter == nullptr) {
+        return;
+    }
+
+    while (count && _queued_parameter != nullptr) {
         char param_name[AP_MAX_NAME_SIZE];
         _queued_parameter->copy_name_token(_queued_parameter_token, param_name, sizeof(param_name), true);
 
@@ -88,6 +92,7 @@ GCS_MAVLINK::queued_param_send()
             // don't use more than 1ms sending blocks of parameters
             break;
         }
+        count--;
     }
     _queued_parameter_send_time_ms = tnow;
 }
@@ -373,13 +378,13 @@ void GCS_MAVLINK::param_io_timer(void)
 /*
   send a reply to a PARAM_REQUEST_READ
  */
-void GCS_MAVLINK::send_parameter_reply(void)
+bool GCS_MAVLINK::send_parameter_reply(void)
 {
     struct pending_param_reply reply;
     
     if (!param_replies.pop(reply)) {
         // nothing to do
-        return;
+        return false;
     }
     
     mavlink_msg_param_value_send(
@@ -389,6 +394,8 @@ void GCS_MAVLINK::send_parameter_reply(void)
         mav_var_type(reply.p_type),
         reply.count,
         reply.param_index);
+
+    return true;
 }
 
 void GCS_MAVLINK::handle_common_param_message(mavlink_message_t *msg)