diff --git a/libavformat/udp.c b/libavformat/udp.c
index 70dc98e4de..58e7498845 100644
--- a/libavformat/udp.c
+++ b/libavformat/udp.c
@@ -29,6 +29,7 @@
 
 #include "avformat.h"
 #include "avio_internal.h"
+#include "libavutil/avassert.h"
 #include "libavutil/parseutils.h"
 #include "libavutil/fifo.h"
 #include "libavutil/intreadwrite.h"
@@ -93,6 +94,7 @@ typedef struct UDPContext {
     AVFifoBuffer *fifo;
     int circular_buffer_error;
     int64_t packet_gap; /* delay between transmitted packets */
+    int close_req;
 #if HAVE_PTHREAD_CANCEL
     pthread_t circular_buffer_thread;
     pthread_mutex_t mutex;
@@ -545,30 +547,6 @@ end:
     return NULL;
 }
 
-static void do_udp_write(void *arg, void *buf, int size) {
-    URLContext *h = arg;
-    UDPContext *s = h->priv_data;
-
-    int ret;
-
-    if (!(h->flags & AVIO_FLAG_NONBLOCK)) {
-        ret = ff_network_wait_fd(s->udp_fd, 1);
-        if (ret < 0) {
-            s->circular_buffer_error = ret;
-            return;
-        }
-    }
-
-    if (!s->is_connected) {
-        ret = sendto (s->udp_fd, buf, size, 0,
-                      (struct sockaddr *) &s->dest_addr,
-                      s->dest_addr_len);
-    } else
-        ret = send(s->udp_fd, buf, size, 0);
-
-    s->circular_buffer_error=ret;
-}
-
 static void *circular_buffer_task_tx( void *_URLContext)
 {
     URLContext *h = _URLContext;
@@ -576,41 +554,67 @@ static void *circular_buffer_task_tx( void *_URLContext)
     int old_cancelstate;
 
     pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, &old_cancelstate);
+    pthread_mutex_lock(&s->mutex);
+
+    if (ff_socket_nonblock(s->udp_fd, 0) < 0) {
+        av_log(h, AV_LOG_ERROR, "Failed to set blocking mode");
+        s->circular_buffer_error = AVERROR(EIO);
+        goto end;
+    }
 
     for(;;) {
         int len;
+        const uint8_t *p;
         uint8_t tmp[4];
 
-        pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, &old_cancelstate);
-
-        av_usleep(s->packet_gap);
-
-        pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, &old_cancelstate);
-
-        pthread_mutex_lock(&s->mutex);
-
         len=av_fifo_size(s->fifo);
 
         while (len<4) {
+            if (s->close_req)
+                goto end;
             if (pthread_cond_wait(&s->cond, &s->mutex) < 0) {
                 goto end;
             }
             len=av_fifo_size(s->fifo);
         }
 
-        av_fifo_generic_peek(s->fifo, tmp, 4, NULL);
+        av_fifo_generic_read(s->fifo, tmp, 4, NULL);
         len=AV_RL32(tmp);
 
-        if (len>0 && av_fifo_size(s->fifo)>=len+4) {
-            av_fifo_drain(s->fifo, 4); /* skip packet length */
-            av_fifo_generic_read(s->fifo, h, len, do_udp_write); /* use function for write from fifo buffer */
-            if (s->circular_buffer_error == len) {
-                /* all ok - reset error */
-                s->circular_buffer_error=0;
+        av_assert0(len >= 0);
+        av_assert0(len <= sizeof(s->tmp));
+
+        av_fifo_generic_read(s->fifo, s->tmp, len, NULL);
+
+        pthread_mutex_unlock(&s->mutex);
+        pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, &old_cancelstate);
+
+        p = s->tmp;
+        while (len) {
+            int ret;
+            av_assert0(len > 0);
+            if (!s->is_connected) {
+                ret = sendto (s->udp_fd, p, len, 0,
+                            (struct sockaddr *) &s->dest_addr,
+                            s->dest_addr_len);
+            } else
+                ret = send(s->udp_fd, p, len, 0);
+            if (ret >= 0) {
+                len -= ret;
+                p   += ret;
+            } else {
+                ret = ff_neterrno();
+                if (ret != AVERROR(EAGAIN) && ret != AVERROR(EINTR)) {
+                    s->circular_buffer_error = ret;
+                    return NULL;
+                }
             }
         }
 
-        pthread_mutex_unlock(&s->mutex);
+        av_usleep(s->packet_gap);
+
+        pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, &old_cancelstate);
+        pthread_mutex_lock(&s->mutex);
     }
 
 end:
@@ -1055,7 +1059,6 @@ static int udp_write(URLContext *h, const uint8_t *buf, int size)
         */
         if (s->circular_buffer_error<0) {
             int err=s->circular_buffer_error;
-            s->circular_buffer_error=0;
             pthread_mutex_unlock(&s->mutex);
             return err;
         }
@@ -1093,13 +1096,26 @@ static int udp_close(URLContext *h)
 {
     UDPContext *s = h->priv_data;
 
+#if HAVE_PTHREAD_CANCEL
+    // Request close once writing is finished
+    if (s->thread_started && !(h->flags & AVIO_FLAG_READ)) {
+        int ret;
+        pthread_mutex_lock(&s->mutex);
+        s->close_req = 1;
+        pthread_cond_signal(&s->cond);
+        pthread_mutex_unlock(&s->mutex);
+    }
+#endif
+
     if (s->is_multicast && (h->flags & AVIO_FLAG_READ))
         udp_leave_multicast_group(s->udp_fd, (struct sockaddr *)&s->dest_addr,(struct sockaddr *)&s->local_addr_storage);
     closesocket(s->udp_fd);
 #if HAVE_PTHREAD_CANCEL
     if (s->thread_started) {
         int ret;
-        pthread_cancel(s->circular_buffer_thread);
+        // Cancel only read, as write has been signaled as success to the user
+        if (h->flags & AVIO_FLAG_READ)
+            pthread_cancel(s->circular_buffer_thread);
         ret = pthread_join(s->circular_buffer_thread, NULL);
         if (ret != 0)
             av_log(h, AV_LOG_ERROR, "pthread_join(): %s\n", strerror(ret));