diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 07f26b9c05..c8a2108ad6 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -850,6 +850,12 @@ private:
 
     uint8_t last_battery_status_idx;
 
+    // send_sensor_offsets decimates its send rate using this counter:
+    // FIXME: decimate this instead when initialising the message
+    // intervals from the stream rates.  Consider the implications of
+    // doing so vis-a-vis the fact it will consume a bucket.
+    uint8_t send_sensor_offsets_counter;
+
     // if we've ever sent a DISTANCE_SENSOR message out of an
     // orientation we continue to send it out, even if it is not
     // longer valid.
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index f46cd80f17..e44045d8e0 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1836,11 +1836,10 @@ void GCS_MAVLINK::send_sensor_offsets()
 
     // run this message at a much lower rate - otherwise it
     // pointlessly wastes quite a lot of bandwidth
-    static uint8_t counter;
-    if (counter++ < 10) {
+    if (send_sensor_offsets_counter++ < 10) {
         return;
     }
-    counter = 0;
+    send_sensor_offsets_counter = 0;
 
     const Vector3f &mag_offsets = compass.get_offsets(0);
     const Vector3f &accel_offsets = ins.get_accel_offsets(0);