diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 47eab6be87..b667269ede 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -467,7 +467,7 @@ static int set_mavlink_interval_limit(int mavlink_msg_id, int min_interval)
 			break;
 		case MAVLINK_MSG_ID_ATTITUDE:
 			/* attitude sub triggers attitude */
-			orb_set_interval(att_sub, 100);
+			orb_set_interval(att_sub, min_interval);
 			break;
 		default:
 			/* not found */
@@ -520,6 +520,7 @@ static void *uorb_receiveloop(void *arg)
 	/* --- ATTITUDE VALUE --- */
 	/* subscribe to ORB for attitude */
 	att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	orb_set_interval(att_sub, 100);
 	fds[fdsc_count].fd = att_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;