diff --git a/src/mavsdk/plugins/action_server/action_server_impl.cpp b/src/mavsdk/plugins/action_server/action_server_impl.cpp
index 6eeb9ae85..85919b3a4 100644
--- a/src/mavsdk/plugins/action_server/action_server_impl.cpp
+++ b/src/mavsdk/plugins/action_server/action_server_impl.cpp
@@ -66,6 +66,8 @@ void ActionServerImpl::init()
             ActionServer::ArmDisarm armDisarm{
                 command.params.param1 == 1, command.params.param2 == 21196};
 
+            std::lock_guard<std::mutex> lock(_callback_mutex);
+
             // Check arm states - Ugly.
             auto request_ack = MAV_RESULT_UNSUPPORTED;
             bool force = armDisarm.force;
@@ -98,6 +100,8 @@ void ActionServerImpl::init()
     _server_component_impl->register_mavlink_command_handler(
         MAV_CMD_NAV_TAKEOFF,
         [this](const MavlinkCommandReceiver::CommandLong& command) {
+            std::lock_guard<std::mutex> lock(_callback_mutex);
+
             if (_allow_takeoff) {
                 _takeoff_callbacks.queue(
                     ActionServer::Result::Success, true, [this](const auto& func) {
@@ -130,6 +134,8 @@ void ActionServerImpl::init()
             auto custom_mode = static_cast<uint8_t>(command.params.param2);
             auto sub_custom_mode = static_cast<uint8_t>(command.params.param3);
 
+            std::lock_guard<std::mutex> lock(_callback_mutex);
+
             if (is_custom) {
                 // PX4 uses custom modes
                 px4_custom_mode px4_mode{};
diff --git a/src/mavsdk_server/tools/package_mavsdk_server_framework.bash b/src/mavsdk_server/tools/package_mavsdk_server_framework.bash
index 88dd8e5c9..f1b87ab0a 100644
--- a/src/mavsdk_server/tools/package_mavsdk_server_framework.bash
+++ b/src/mavsdk_server/tools/package_mavsdk_server_framework.bash
@@ -23,6 +23,9 @@ fi
 echo "Running lipo for simulator"
 mkdir -p ${IOS_SIM_FAT_BACKEND_DIR}
 cp -a ${IOS_SIM_X64_BACKEND_DIR}/mavsdk_server.framework ${IOS_SIM_FAT_BACKEND_DIR}
+file ${IOS_SIM_X64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
+file ${IOS_SIM_ARM64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
+
 xcrun lipo -create -output ${IOS_SIM_FAT_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server \
     ${IOS_SIM_X64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server \
     ${IOS_SIM_ARM64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
@@ -37,6 +40,12 @@ xcrun codesign --verbose --sign - ${IOS_SIM_FAT_BACKEND_DIR}/mavsdk_server.frame
 echo "Running lipo for macos"
 mkdir -p ${MACOS_FAT_BACKEND_DIR}
 cp -a ${MACOS_X64_BACKEND_DIR}/mavsdk_server.framework ${MACOS_FAT_BACKEND_DIR}
+# Fix up symlinks that seem to break when github artifacts unzips the archives
+ln -s -f ${MACOS_X64_BACKEND_DIR}/mavsdk_server.framework/Versions/Current/mavsdk_server ${MACOS_X64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
+ln -s -f ${MACOS_ARM64_BACKEND_DIR}/mavsdk_server.framework/Versions/Current/mavsdk_server ${MACOS_ARM64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
+file ${MACOS_X64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
+file ${MACOS_ARM64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server
+
 xcrun lipo -create -output ${MACOS_FAT_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server \
     ${MACOS_X64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server \
     ${MACOS_ARM64_BACKEND_DIR}/mavsdk_server.framework/mavsdk_server