diff --git a/pyatv/mrp/protocol.py b/pyatv/mrp/protocol.py
index 9e31abcf..c152b2d3 100644
--- a/pyatv/mrp/protocol.py
+++ b/pyatv/mrp/protocol.py
@@ -14,6 +14,7 @@ from pyatv.mrp.srp import Credentials
 _LOGGER = logging.getLogger(__name__)
 
 HEARTBEAT_INTERVAL = 30
+HEARTBEAT_RETRIES = 1  # One regular attempt + retries
 
 Listener = namedtuple("Listener", "func data")
 OutstandingMessage = namedtuple("OutstandingMessage", "semaphore response")
@@ -23,10 +24,14 @@ async def heartbeat_loop(protocol):
     """Periodically send heartbeat messages to device."""
     _LOGGER.debug("Starting heartbeat loop")
     count = 0
+    attempts = 0
     message = messages.create(protobuf.ProtocolMessage.SEND_COMMAND_MESSAGE)
     while True:
         try:
-            await asyncio.sleep(HEARTBEAT_INTERVAL)
+            # Re-attempts are made with no initial delay to more quickly
+            # recover a failed heartbeat (if possible)
+            if attempts == 0:
+                await asyncio.sleep(HEARTBEAT_INTERVAL)
 
             _LOGGER.debug("Sending periodic heartbeat %d", count)
             await protocol.send_and_receive(message)
@@ -34,11 +39,18 @@ async def heartbeat_loop(protocol):
         except asyncio.CancelledError:
             break
         except Exception:
-            _LOGGER.exception(f"heartbeat {count} failed")
-            protocol.connection.close()
-            break
+            attempts += 1
+            if attempts > HEARTBEAT_RETRIES:
+                _LOGGER.error(f"heartbeat {count} failed after {attempts} tries")
+                protocol.connection.close()
+                break
+            else:
+                _LOGGER.debug(f"heartbeat {count} failed")
         else:
+            attempts = 0
+        finally:
             count += 1
+
     _LOGGER.debug("Stopping heartbeat loop at %d", count)
 
 

diff --git a/tests/mrp/test_protocol.py b/tests/mrp/test_protocol.py
index 8c7e8c63..20043675 100644
--- a/tests/mrp/test_protocol.py
+++ b/tests/mrp/test_protocol.py
@@ -1,13 +1,20 @@
 """Unittests for pyatv.mrp.protocol."""
+from unittest.mock import MagicMock
+
 import pytest
 
 from pyatv.conf import MrpService
 from pyatv.const import Protocol
 from pyatv.mrp.connection import MrpConnection
-from pyatv.mrp.protocol import MrpProtocol
+from pyatv.mrp.protocol import (
+    HEARTBEAT_INTERVAL,
+    HEARTBEAT_RETRIES,
+    MrpProtocol,
+    heartbeat_loop,
+)
 from pyatv.mrp.srp import SRPAuthHandler
 
-from tests.utils import until, stub_sleep
+from tests.utils import until, total_sleep_time
 from tests.fake_device import FakeAppleTV
 
 
@@ -37,3 +44,15 @@ async def test_heartbeat_loop(mrp_atv, mrp_protocol):
 
     mrp_state = mrp_atv.get_state(Protocol.MRP)
     await until(lambda: mrp_state.heartbeat_count >= 3)
+
+
+@pytest.mark.asyncio
+async def test_heartbeat_fail_closes_connection(stub_sleep):
+    protocol = MagicMock()
+    protocol.send_and_receive.side_effect = Exception()
+
+    await heartbeat_loop(protocol)
+    assert protocol.send_and_receive.call_count == 1 + HEARTBEAT_RETRIES
+    assert total_sleep_time() == HEARTBEAT_INTERVAL
+
+    protocol.connection.close.assert_called_once()
diff --git a/tests/utils.py b/tests/utils.py
index 63e3fc17..6734d13c 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -16,6 +16,7 @@ from aiohttp import ClientSession
 async def _fake_sleep(time: float = None, loop=None):
     async def dummy():
         _fake_sleep._sleep_time.insert(0, time)
+        _fake_sleep._total_sleep += time
 
     await asyncio.ensure_future(dummy())
 
@@ -28,6 +29,7 @@ def stub_sleep(fn=None) -> float:
     if asyncio.sleep == _fake_sleep:
         if not hasattr(asyncio.sleep, "_sleep_time"):
             asyncio.sleep._sleep_time = [0.0]
+            asyncio.sleep._total_sleep = 0.0
         if len(asyncio.sleep._sleep_time) == 1:
             return asyncio.sleep._sleep_time[0]
         return asyncio.sleep._sleep_time.pop()
@@ -35,13 +37,21 @@ def stub_sleep(fn=None) -> float:
     return 0.0
 
 
-def unstub_sleep():
+def unstub_sleep() -> None:
     """Restore original asyncio.sleep method."""
     if asyncio.sleep == _fake_sleep:
         asyncio.sleep._sleep_time = [0.0]
+        asyncio.sleep._total_sleep = 0.0
     asyncio.sleep = real_sleep
 
 
+def total_sleep_time() -> float:
+    """Return total amount of fake time slept."""
+    if asyncio.sleep == _fake_sleep:
+        return _fake_sleep._total_sleep
+    return 0.0
+
+
 async def simple_get(url):
     """Perform a GET-request to a specified URL."""
     async with ClientSession() as session:

Add retries for heartbeats (MRP)
**What feature would you like?**
When a heartbeat fails, an error is logged and the connection is closed. Generally this is good, but in case the response happens to be delayed long enough (even though nothing is wrong), this is quite pessimistic and it's probably a good idea to make another try before failing. Do not impose an initial delay on the retry though (just retry immediately) as we still want to fail as early as possible in case of an actual problem.

**Describe the solution you'd like**
From the description above: make a retry immediately when a heartbeat fails. Only log error if retry also fails.

**Any other information to share?**
Heartbeat errors seems to happen sporadically and I believe there's not actually a problem in most cases. This is an attempt to recover in those cases, but it's still not a very well tested method so I can't be sure that it works.
tests/mrp/test_protocol.py::test_heartbeat_fail_closes_connection