diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 250e095012..3029b562ab 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -51,6 +51,9 @@ static void run_cli(AP_HAL::UARTDriver *port)
     // disable the failsafe code in the CLI
     hal.scheduler->register_timer_failsafe(NULL,1);
 
+    // disable the mavlink delay callback
+    hal.scheduler->register_delay_callback(NULL, 5);
+
     cliSerial = port;
     Menu::set_port(port);
     port->set_blocking_writes(true);
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 62a2d5d090..f5338ec4ba 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -54,6 +54,9 @@ static void run_cli(AP_HAL::UARTDriver *port)
     Menu::set_port(port);
     port->set_blocking_writes(true);
 
+    // disable the mavlink delay callback
+    hal.scheduler->register_delay_callback(NULL, 5);
+
     while (1) {
         main_menu.run();
     }
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index be41cfa606..a304f81de5 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -54,6 +54,9 @@ static void run_cli(AP_HAL::UARTDriver *port)
     // disable the failsafe code in the CLI
     hal.scheduler->register_timer_failsafe(NULL,1);
 
+    // disable the mavlink delay callback
+    hal.scheduler->register_delay_callback(NULL, 5);
+
     cliSerial = port;
     Menu::set_port(port);
     port->set_blocking_writes(true);