diff --git a/libraries/AP_OpenDroneID/AP_OpenDroneID.cpp b/libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
index f43289d248380c..042ab23efb564e 100644
--- a/libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
+++ b/libraries/AP_OpenDroneID/AP_OpenDroneID.cpp
@@ -132,7 +132,7 @@ void AP_OpenDroneID::set_basic_id() {
     if (pkt_basic_id.id_type != MAV_ODID_ID_TYPE_NONE) {
         return;
     }
-    if (id_len == 0) {
+    if ((id_len == 0) && (_options & LockUASIDOnFirstBasicIDRx)) {
         load_UAS_ID_from_persistent_memory();
     }
     if (id_len > 0) {