diff --git a/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h b/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h
index 054a1bbbe3e..5c13ec1ae5f 100644
--- a/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h
+++ b/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h
@@ -38,7 +38,7 @@ struct test_UDPv4TransportDescriptor : public SocketTransportDescriptor
 
     //! Test shim parameters
     //! Percentage of data messages being dropped
-    uint8_t dropDataMessagesPercentage;
+    mutable std::atomic<uint8_t> dropDataMessagesPercentage;
     //! Filtering function for dropping data messages
     filter drop_data_messages_filter_;
     //! Flag to enable dropping of discovery Participant DATA(P) messages
@@ -48,24 +48,24 @@ struct test_UDPv4TransportDescriptor : public SocketTransportDescriptor
     //! Flag to enable dropping of discovery Reader DATA(R) messages
     bool dropSubscriptionBuiltinTopicData;
     //! Percentage of data fragments being dropped
-    uint8_t dropDataFragMessagesPercentage;
+    mutable std::atomic<uint8_t> dropDataFragMessagesPercentage;
     //! Filtering function for dropping data fragments messages
     filter drop_data_frag_messages_filter_;
     //! Percentage of heartbeats being dropped
-    uint8_t dropHeartbeatMessagesPercentage;
+    mutable std::atomic<uint8_t> dropHeartbeatMessagesPercentage;
     //! Filtering function for dropping heartbeat messages
     filter drop_heartbeat_messages_filter_;
     //! Percentage of AckNacks being dropped
-    uint8_t dropAckNackMessagesPercentage;
+    mutable std::atomic<uint8_t> dropAckNackMessagesPercentage;
     //! Filtering function for dropping AckNacks
     filter drop_ack_nack_messages_filter_;
     //! Percentage of gap messages being dropped
-    uint8_t dropGapMessagesPercentage;
+    mutable std::atomic<uint8_t> dropGapMessagesPercentage;
     //! Filtering function for dropping gap messages
     filter drop_gap_messages_filter_;
 
     // General drop percentage (indiscriminate)
-    uint8_t percentageOfMessagesToDrop;
+    mutable std::atomic<uint8_t> percentageOfMessagesToDrop;
     // General filtering function for all kind of messages (indiscriminate)
     filter messages_filter_;
 
diff --git a/src/cpp/rtps/transport/test_UDPv4Transport.cpp b/src/cpp/rtps/transport/test_UDPv4Transport.cpp
index e680b888451..929b613edcf 100644
--- a/src/cpp/rtps/transport/test_UDPv4Transport.cpp
+++ b/src/cpp/rtps/transport/test_UDPv4Transport.cpp
@@ -492,7 +492,7 @@ bool test_UDPv4Transport::log_drop(
 bool test_UDPv4Transport::should_be_dropped(
         PercentageData* percent)
 {
-    percent->accumulator += percent->percentage;
+    percent->accumulator += percent->percentage.load();
     if (percent->accumulator >= 100u)
     {
         percent->accumulator -= 100u;
diff --git a/src/cpp/rtps/transport/test_UDPv4Transport.h b/src/cpp/rtps/transport/test_UDPv4Transport.h
index 93a611675fc..c6c6b3b50b1 100644
--- a/src/cpp/rtps/transport/test_UDPv4Transport.h
+++ b/src/cpp/rtps/transport/test_UDPv4Transport.h
@@ -73,13 +73,13 @@ class test_UDPv4Transport : public UDPv4Transport
     struct PercentageData
     {
         PercentageData(
-                uint8_t percent)
+                std::atomic<uint8_t>& percent)
             : percentage(percent)
             , accumulator(0)
         {
         }
 
-        uint8_t percentage;
+        std::atomic<uint8_t>& percentage;
         uint8_t accumulator;
     };
 
diff --git a/test/blackbox/common/BlackboxTestsPubSubHistory.cpp b/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
index 29317c463dd..a09438c3db9 100644
--- a/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
+++ b/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
@@ -992,6 +992,11 @@ TEST_P(PubSubHistory, PubSubAsReliableKeepLastWithKeyUnorderedReception)
     writer.send(data);
     ASSERT_TRUE(data.empty());
 
+    reader.block_for_at_least(static_cast<size_t>(keys * depth * 0.1));
+
+    //! Avoid dropping deterministically the same re-sent samples
+    testTransport->dropDataMessagesPercentage.store(10);
+
     reader.block_for_all();
     reader.stopReception();
 }