diff --git a/src/mavsdk/core/mavlink_command_sender.cpp b/src/mavsdk/core/mavlink_command_sender.cpp
index 81017214a..177305125 100644
--- a/src/mavsdk/core/mavlink_command_sender.cpp
+++ b/src/mavsdk/core/mavlink_command_sender.cpp
@@ -88,6 +88,7 @@ void MavlinkCommandSender::queue_command_async(
 
     CommandIdentification identification = identification_from_command(command);
 
+    LockedQueue<Work>::Guard work_queue_guard(_work_queue);
     for (const auto& work : _work_queue) {
         if (work->identification == identification && callback == nullptr) {
             if (_command_debugging) {
@@ -117,6 +118,7 @@ void MavlinkCommandSender::queue_command_async(
 
     CommandIdentification identification = identification_from_command(command);
 
+    LockedQueue<Work>::Guard work_queue_guard(_work_queue);
     for (const auto& work : _work_queue) {
         if (work->identification == identification && callback == nullptr) {
             if (_command_debugging) {