diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index abcdf00cbdfc0..a6231ed988b5c 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -319,6 +319,7 @@ class GCS_MAVLINK
         return last_radio_status.remrssi_ms;
     }
     static float telemetry_radio_rssi(); // 0==no signal, 1==full signal
+    static bool last_txbuf_is_greater(uint8_t txbuf_limit);
 
     // mission item index to be sent on queued msg, delayed or not
     uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE;
@@ -481,7 +482,6 @@ class GCS_MAVLINK
 
     virtual uint64_t capabilities() const;
     uint16_t get_stream_slowdown_ms() const { return stream_slowdown_ms; }
-    uint8_t get_last_txbuf() const { return last_txbuf; }
 
     MAV_RESULT set_message_interval(uint32_t msg_id, int32_t interval_us);
 
@@ -768,6 +768,7 @@ class GCS_MAVLINK
         uint32_t remrssi_ms;
         uint8_t rssi;
         uint32_t received_ms; // time RADIO_STATUS received
+        uint8_t txbuf = 100;
     } last_radio_status;
 
     enum class Flags {
@@ -813,8 +814,6 @@ class GCS_MAVLINK
 
     // number of extra ms to add to slow things down for the radio
     uint16_t         stream_slowdown_ms;
-    // last reported radio buffer percent available
-    uint8_t          last_txbuf = 100;
 
     // outbound ("deferred message") queue.
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index fe29ac468e513..3b81e551adbe4 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -833,6 +833,15 @@ float GCS_MAVLINK::telemetry_radio_rssi()
     return last_radio_status.rssi/254.0f;
 }
 
+bool GCS_MAVLINK::last_txbuf_is_greater(uint8_t txbuf_limit)
+{
+    if (AP_HAL::millis() - last_radio_status.received_ms > 5000) {
+        // stale report
+        return true;
+    }
+    return last_radio_status.txbuf > txbuf_limit;
+}
+
 void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg)
 {
     mavlink_radio_t packet;
@@ -849,7 +858,7 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg)
         last_radio_status.remrssi_ms = now;
     }
 
-    last_txbuf = packet.txbuf;
+    last_radio_status.txbuf = packet.txbuf;
 
     // use the state of the transmit buffer in the radio to
     // control the stream rate, giving us adaptive software
@@ -1164,7 +1173,7 @@ uint16_t GCS_MAVLINK::get_reschedule_interval_ms(const deferred_message_bucket_t
         interval_ms *= 4;
     }
 #if AP_MAVLINK_FTP_ENABLED
-    if (AP_HAL::millis() - ftp.last_send_ms < 500) {
+    if (AP_HAL::millis() - ftp.last_send_ms < 1000) {
         // we are sending ftp replies
         interval_ms *= 4;
     }
diff --git a/libraries/GCS_MAVLink/GCS_FTP.cpp b/libraries/GCS_MAVLink/GCS_FTP.cpp
index 10725ad586a23..720142a839ef5 100644
--- a/libraries/GCS_MAVLink/GCS_FTP.cpp
+++ b/libraries/GCS_MAVLink/GCS_FTP.cpp
@@ -97,12 +97,8 @@ void GCS_MAVLINK::handle_file_transfer_protocol(const mavlink_message_t &msg) {
 
 bool GCS_MAVLINK::send_ftp_reply(const pending_ftp &reply)
 {
-    /*
-      provide same banner we would give with old param download
-    */
-    if (ftp.need_banner_send_mask & (1U<<reply.chan)) {
-        ftp.need_banner_send_mask &= ~(1U<<reply.chan);
-        send_banner();
+    if (!last_txbuf_is_greater(33)) { // It helps avoid GCS timeout if this is less than the threshold where we slow down normal streams (<=49)
+        return false;
     }
     WITH_SEMAPHORE(comm_chan_lock(reply.chan));
     if (!HAVE_PAYLOAD_SPACE(chan, FILE_TRANSFER_PROTOCOL)) {
@@ -121,11 +117,6 @@ bool GCS_MAVLINK::send_ftp_reply(const pending_ftp &reply)
         reply.chan,
         0, reply.sysid, reply.compid,
         payload);
-    if (reply.req_opcode == FTP_OP::TerminateSession) {
-        ftp.last_send_ms = 0;
-    } else {
-        ftp.last_send_ms = AP_HAL::millis();
-    }
     return true;
 }
 
@@ -155,9 +146,25 @@ void GCS_MAVLINK::ftp_error(struct pending_ftp &response, FTP_ERROR error) {
 // send our response back out to the system
 void GCS_MAVLINK::ftp_push_replies(pending_ftp &reply)
 {
+    ftp.last_send_ms = AP_HAL::millis(); // Used to detect active FTP session
+
     while (!send_ftp_reply(reply)) {
         hal.scheduler->delay(2);
     }
+
+    if (reply.req_opcode == FTP_OP::TerminateSession) {
+        ftp.last_send_ms = 0;
+    }
+    /*
+      provide same banner we would give with old param download
+      Do this after send_ftp_reply() to get the first FTP response out sooner
+      on slow links to avoid GCS timeout.  The slowdown of normal streams in
+      get_reschedule_interval_ms() should help for subsequent responses.
+    */
+    if (ftp.need_banner_send_mask & (1U<<reply.chan)) {
+        ftp.need_banner_send_mask &= ~(1U<<reply.chan);
+        send_banner();
+    }
 }
 
 void GCS_MAVLINK::ftp_worker(void) {
diff --git a/libraries/GCS_MAVLink/GCS_Param.cpp b/libraries/GCS_MAVLink/GCS_Param.cpp
index a4c8c1df5182c..68166e0208473 100644
--- a/libraries/GCS_MAVLink/GCS_Param.cpp
+++ b/libraries/GCS_MAVLink/GCS_Param.cpp
@@ -75,7 +75,7 @@ GCS_MAVLINK::queued_param_send()
     }
     count -= async_replies_sent_count;
 
-    while (count && _queued_parameter != nullptr && get_last_txbuf() > 50) {
+    while (count && _queued_parameter != nullptr && last_txbuf_is_greater(33)) {
         char param_name[AP_MAX_NAME_SIZE];
         _queued_parameter->copy_name_token(_queued_parameter_token, param_name, sizeof(param_name), true);