diff --git a/pkt0.go b/pkt0.go
index d160869..dec70ef 100644
--- a/pkt0.go
+++ b/pkt0.go
@@ -7,24 +7,22 @@ import (
 	"time"
 )
 
+const pkt0DefaultSendInterval = 100 * time.Millisecond
+const pkt0IdleAfter = time.Second
+const pkt0IdleSendInterval = time.Second
+
 type pkt0Type struct {
 	sendSeq uint16
-	mutex   sync.Mutex
+	mutex   sync.Mutex // Protects sendSeq
 
-	sendTicker *time.Ticker
+	sendTimer         *time.Timer
+	lastTrackedSentAt time.Time
 
 	txSeqBuf txSeqBufStruct
 
-	periodicStopNeededChan   chan bool
-	periodicStopFinishedChan chan bool
-}
-
-func (p *pkt0Type) sendSeqLock() {
-	p.mutex.Lock()
-}
-
-func (p *pkt0Type) sendSeqUnlock() {
-	p.mutex.Unlock()
+	periodicIntervalResetChan chan bool
+	periodicStopNeededChan    chan bool
+	periodicStopFinishedChan  chan bool
 }
 
 func (p *pkt0Type) retransmitRange(s *streamCommon, start, end uint16) error {
@@ -106,8 +104,8 @@ func (p *pkt0Type) isPkt0(r []byte) bool {
 // The radio can request retransmit for tracked packets. If there are no tracked packets to send, idle pkt0
 // packets are periodically sent.
 func (p *pkt0Type) sendTrackedPacket(s *streamCommon, d []byte) error {
-	p.sendSeqLock()
-	defer p.sendSeqUnlock()
+	p.mutex.Lock()
+	defer p.mutex.Unlock()
 
 	// if s.name == "audio" {
 	// 	if drop == 0 && time.Now().UnixNano()%100 == 0 {
@@ -131,6 +129,18 @@ func (p *pkt0Type) sendTrackedPacket(s *streamCommon, d []byte) error {
 	}
 	// }
 	p.sendSeq++
+
+	if !p.isIdlePkt0(d) {
+		p.lastTrackedSentAt = time.Now()
+		if p.periodicIntervalResetChan != nil {
+			// Non-blocking send.
+			select {
+			case p.periodicIntervalResetChan <- true:
+			default:
+			}
+		}
+	}
+
 	return nil
 }
 
@@ -148,11 +158,23 @@ func (p *pkt0Type) sendIdle(s *streamCommon, tracked bool, seqIfUntracked uint16
 func (p *pkt0Type) loop(s *streamCommon) {
 	for {
 		select {
-		case <-p.sendTicker.C:
+		case <-p.periodicIntervalResetChan:
+			if !p.sendTimer.Stop() {
+				<-p.sendTimer.C
+			}
+			p.sendTimer.Reset(pkt0DefaultSendInterval)
+		case <-p.sendTimer.C:
 			if err := p.sendIdle(s, true, 0); err != nil {
 				reportError(err)
 			}
+
+			if time.Since(p.lastTrackedSentAt) >= pkt0IdleAfter {
+				p.sendTimer.Reset(pkt0IdleSendInterval)
+			} else {
+				p.sendTimer.Reset(pkt0DefaultSendInterval)
+			}
 		case <-p.periodicStopNeededChan:
+			p.sendTimer.Stop()
 			p.periodicStopFinishedChan <- true
 			return
 		}
@@ -160,22 +182,21 @@ func (p *pkt0Type) loop(s *streamCommon) {
 }
 
 func (p *pkt0Type) startPeriodicSend(s *streamCommon) {
-	p.sendTicker = time.NewTicker(100 * time.Millisecond)
+	p.sendTimer = time.NewTimer(pkt0IdleSendInterval)
 
+	p.periodicIntervalResetChan = make(chan bool)
 	p.periodicStopNeededChan = make(chan bool)
 	p.periodicStopFinishedChan = make(chan bool)
 	go p.loop(s)
 }
 
 func (p *pkt0Type) stopPeriodicSend() {
-	if p.sendTicker == nil { // Periodic send has not started?
+	if p.sendTimer == nil { // Periodic send has not started?
 		return
 	}
 
 	p.periodicStopNeededChan <- true
 	<-p.periodicStopFinishedChan
-
-	p.sendTicker.Stop()
 }
 
 func (p *pkt0Type) init(s *streamCommon) {