diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index a58ad4d2ed..c11f89936f 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -159,6 +159,8 @@ mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
 
 static void usage();
 
+hrt_abstime Mavlink::_first_start_time = {0};
+
 bool Mavlink::_boot_complete = false;
 
 Mavlink::Mavlink() :
@@ -179,6 +181,10 @@ Mavlink::Mavlink() :
 	if (comp_id > 0 && comp_id < 255) {
 		mavlink_system.compid = comp_id;
 	}
+
+	if (_first_start_time == 0) {
+		_first_start_time = hrt_absolute_time();
+	}
 }
 
 Mavlink::~Mavlink()
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index a73ec6649e..1b871073be 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -532,6 +532,8 @@ public:
 	 */
 	struct ping_statistics_s &get_ping_statistics() { return _ping_stats; }
 
+	static hrt_abstime &get_first_start_time() { return _first_start_time; }
+
 protected:
 	Mavlink			*next{nullptr};
 
@@ -688,6 +690,8 @@ private:
 	static constexpr unsigned RADIO_BUFFER_LOW_PERCENTAGE = 35;
 	static constexpr unsigned RADIO_BUFFER_HALF_PERCENTAGE = 50;
 
+	static hrt_abstime _first_start_time;
+
 	/**
 	 * Configure a single stream.
 	 * @param stream_name
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 4f81217c1e..2c79c775cd 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2529,7 +2529,7 @@ MavlinkReceiver::Run()
 
 	// make sure mavlink app has booted before we start processing anything (parameter sync, etc)
 	while (!_mavlink->boot_complete()) {
-		if (hrt_absolute_time() > 20_s) {
+		if (hrt_elapsed_time(&_mavlink->get_first_start_time()) > 20_s) {
 			PX4_ERR("system boot did not complete in 20 seconds");
 			_mavlink->set_boot_complete();
 		}