diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 7661115aef..f4e0ef6067 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -3858,15 +3858,26 @@ class AutoTest(ABC):
             if self.get_sim_time_cached() - tstart > timeout:
                 return
 
-    def assert_receive_message(self, type, timeout=1, verbose=False, very_verbose=False, mav=None):
+    def assert_receive_message(self,
+                               type,
+                               timeout=1,
+                               verbose=False,
+                               very_verbose=False,
+                               mav=None,
+                               condition=None,
+                               delay_fn=None):
         if mav is None:
             mav = self.mav
         m = None
         tstart = time.time()  # timeout in wallclock
-        while m is None:
-            m = mav.recv_match(type=type, blocking=True, timeout=0.05)
+        while True:
+            m = mav.recv_match(type=type, blocking=True, timeout=0.05, condition=condition)
+            if m is not None:
+                break
             if time.time() - tstart > timeout:
                 raise NotAchievedException("Did not get %s" % type)
+            if delay_fn is not None:
+                delay_fn()
         if verbose:
             self.progress("Received (%s)" % str(m))
         if very_verbose:
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 91042e8c21..a6ada99c2f 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -2296,16 +2296,17 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.progress("Asserted mission count (type=%u) is %u after %fs" % (
             (mission_type, m.count, delta)))
 
-    def get_mission_item_int_on_link(self, item, mav, target_system, target_component, mission_type):
+    def get_mission_item_int_on_link(self, item, mav, target_system, target_component, mission_type, delay_fn=None):
         self.drain_mav(mav=mav, unparsed=True)
         mav.mav.mission_request_int_send(target_system,
                                          target_component,
                                          item,
                                          mission_type)
-        m = mav.recv_match(type='MISSION_ITEM_INT',
-                           blocking=True,
-                           timeout=60,
-                           condition='MISSION_ITEM_INT.mission_type==%u' % mission_type)
+        m = self.assert_receive_message(
+            'MISSION_ITEM_INT',
+            timeout=60,
+            condition='MISSION_ITEM_INT.mission_type==%u' % mission_type,
+            delay_fn=delay_fn)
         if m is None:
             raise NotAchievedException("Did not receive MISSION_ITEM_INT")
         if m.mission_type != mission_type:
@@ -3086,12 +3087,16 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
                 target_component,
                 mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
             self.progress("Get first item on new link")
+
+            def drain_self_mav_fn():
+                self.drain_mav(self.mav)
             m2 = self.get_mission_item_int_on_link(
                 2,
                 mav2,
                 target_system,
                 target_component,
-                mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
+                mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
+                delay_fn=drain_self_mav_fn)
             self.progress("Get first item on original link")
             m = self.get_mission_item_int_on_link(
                 2,