diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index cf9b8d79a46d2b5cce261d192bcfd87f2a25bbff..cde36d2c33bfdf482816598f8385d4c1cf564ab2 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2102,14 +2102,12 @@ void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
 
 bool Vehicle::sendMessageOnLinkThreadSafe(LinkInterface* link, mavlink_message_t message)
 {
-    QMutexLocker lock(&_sendMessageOnLinkMutex);
-
     if (!link->isConnected()) {
         return false;
     }
 
     // Give the plugin a chance to adjust
-    _firmwarePlugin->adjustOutgoingMavlinkMessage(this, link, &message);
+    _firmwarePlugin->adjustOutgoingMavlinkMessageThreadSafe(this, link, &message);
 
     // Write message into buffer, prepending start sign
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index acb89feb35701177dc4948c79a2cba4e1bd16f36..9d35abb58161b76c6b4d795c0de78d955a4d3abb 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -1412,7 +1412,6 @@ private:
     bool            _highLatencyLink;
     bool            _receivingAttitudeQuaternion;
     CheckList       _checkListState = CheckListNotSetup;
-    QMutex          _sendMessageOnLinkMutex;
 
     QGCCameraManager* _cameras;