diff --git a/integrationtests/python_src/px4_it/mavros/mission_test.py b/integrationtests/python_src/px4_it/mavros/mission_test.py
index e2362c3b27..049949d7a7 100755
--- a/integrationtests/python_src/px4_it/mavros/mission_test.py
+++ b/integrationtests/python_src/px4_it/mavros/mission_test.py
@@ -460,9 +460,6 @@ class MavrosMissionTest(unittest.TestCase):
             else:
                 raise IOError('unknown mission file extension', mission_ext)
 
-        # delay starting the mission
-        self.wait_for_topics(30)
-
         rospy.loginfo("send mission")
         result = False
         try:
@@ -474,6 +471,9 @@ class MavrosMissionTest(unittest.TestCase):
             result,
             "({0}) mission could not be transfered".format(self.mission_name))
 
+        # delay starting the mission
+        self.wait_for_topics(30)
+
         # make sure the simulation is ready to start the mission
         self.wait_on_landed_state(ExtendedState.LANDED_STATE_ON_GROUND, 10, -1)