diff --git a/device/buffer.h b/device/buffer.h
index 85418f2..f1e0b70 100644
--- a/device/buffer.h
+++ b/device/buffer.h
@@ -19,6 +19,7 @@ typedef struct buffer_s {
   int dma_fd;
 
   struct {
+    bool is_keyed : 1;
     bool is_keyframe : 1;
     bool is_last : 1;
   } flags;
diff --git a/device/buffer_list.c b/device/buffer_list.c
index 595334f..284bf5b 100644
--- a/device/buffer_list.c
+++ b/device/buffer_list.c
@@ -100,11 +100,7 @@ int buffer_list_set_stream(buffer_list_t *buf_list, bool do_on)
   buf_list->streaming = do_on;
 
   if (!do_on) {
-    ARRAY_FOREACH(buffer_t*, queued_buf, buf_list->queued_bufs, buf_list->n_queued_bufs) {
-      buffer_consumed(*queued_buf, "stream stop");
-      *queued_buf = NULL;
-    }
-    buf_list->n_queued_bufs = 0;
+    buffer_list_clear_queue(buf_list);
   }
 
   int enqueued = buffer_list_count_enqueued(buf_list);
diff --git a/device/buffer_list.h b/device/buffer_list.h
index e6e37e3..bfb03e7 100644
--- a/device/buffer_list.h
+++ b/device/buffer_list.h
@@ -26,7 +26,7 @@ typedef struct buffer_stats_s {
   int frames, dropped;
 } buffer_stats_t;
 
-#define MAX_BUFFER_QUEUE 1
+#define MAX_BUFFER_QUEUE 4
 
 typedef struct buffer_list_s {
   char *name;
@@ -64,5 +64,6 @@ buffer_t *buffer_list_find_slot(buffer_list_t *buf_list);
 buffer_t *buffer_list_dequeue(buffer_list_t *buf_list);
 int buffer_list_count_enqueued(buffer_list_t *buf_list);
 int buffer_list_enqueue(buffer_list_t *buf_list, buffer_t *dma_buf);
-bool buffer_list_push_to_queue(buffer_list_t *buf_list, buffer_t *dma_buf);
+void buffer_list_clear_queue(buffer_list_t *buf_list);
+bool buffer_list_push_to_queue(buffer_list_t *buf_list, buffer_t *dma_buf, int max_bufs);
 buffer_t *buffer_list_pop_from_queue(buffer_list_t *buf_list);
diff --git a/device/buffer_queue.c b/device/buffer_queue.c
index d1f92bf..e3f4337 100644
--- a/device/buffer_queue.c
+++ b/device/buffer_queue.c
@@ -197,6 +197,9 @@ buffer_t *buffer_list_dequeue(buffer_list_t *buf_list)
 
   if (buf_list->fmt.format == V4L2_PIX_FMT_H264) {
     buffer_update_h264_key_frame(buf);
+    buf->flags.is_keyed = true;
+  } else {
+    buf->flags.is_keyed = false;
   }
 
   buf_list->stats.frames++;
@@ -211,11 +214,22 @@ int buffer_list_pollfd(buffer_list_t *buf_list, struct pollfd *pollfd, bool can_
   return buf_list->dev->hw->buffer_list_pollfd(buf_list, pollfd, can_dequeue);
 }
 
-bool buffer_list_push_to_queue(buffer_list_t *buf_list, buffer_t *dma_buf)
+void buffer_list_clear_queue(buffer_list_t *buf_list)
 {
+  ARRAY_FOREACH(buffer_t*, queued_buf, buf_list->queued_bufs, buf_list->n_queued_bufs) {
+    buffer_consumed(*queued_buf, "clear queue");
+    *queued_buf = NULL;
+  }
+  buf_list->n_queued_bufs = 0;
+}
+
+bool buffer_list_push_to_queue(buffer_list_t *buf_list, buffer_t *dma_buf, int max_bufs)
+{
+  max_bufs = MIN(max_bufs ? max_bufs : MAX_BUFFER_QUEUE, MAX_BUFFER_QUEUE);
+
   if (buf_list->dev->paused)
     return true;
-  if (buf_list->n_queued_bufs >= MAX_BUFFER_QUEUE)
+  if (buf_list->n_queued_bufs >= max_bufs)
     return false;
 
   buffer_use(dma_buf);
diff --git a/device/links.c b/device/links.c
index cc8052b..2721d6f 100644
--- a/device/links.c
+++ b/device/links.c
@@ -11,6 +11,8 @@
 #define CAPTURE_TIMEOUT_US (1000*1000)
 #define N_FDS 50
 
+#define MAX_QUEUED_ON_KEYED MAX_BUFFER_QUEUE
+#define MAX_QUEUED_ON_NON_KEYED 1
 #define MAX_CAPTURED_ON_CAMERA 2
 #define MAX_CAPTURED_ON_M2M 2
 
@@ -252,11 +254,16 @@ static int links_enqueue_from_capture_list(buffer_list_t *capture_list, link_t *
 
   bool dropped = false;
 
+  int max_bufs_queued = buf->flags.is_keyed ? MAX_QUEUED_ON_KEYED : MAX_QUEUED_ON_NON_KEYED;
+
   for (int j = 0; j < link->n_output_lists; j++) {
     if (link->output_lists[j]->dev->paused) {
       continue;
     }
-    if (!buffer_list_push_to_queue(link->output_lists[j], buf)) {
+    if (buf->flags.is_keyframe) {
+      buffer_list_clear_queue(link->output_lists[j]);
+    }
+    if (!buffer_list_push_to_queue(link->output_lists[j], buf, max_bufs_queued)) {
       dropped = true;
     }
   }