diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
index 5e63924d3b..8bb783d3d1 100644
--- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
+++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
@@ -98,15 +98,6 @@ void FwAutotuneAttitudeControl::Run()
 		updateStateMachine(hrt_absolute_time());
 	}
 
-	_aux_switch_en = isAuxEnableSwitchEnabled();
-
-	// new control data needed every iteration
-	if ((_state == state::idle && !_aux_switch_en)
-	    || !_vehicle_torque_setpoint_sub.updated()) {
-
-		return;
-	}
-
 	if (_vehicle_status_sub.updated()) {
 		vehicle_status_s vehicle_status;
 
@@ -116,6 +107,15 @@ void FwAutotuneAttitudeControl::Run()
 		}
 	}
 
+	_aux_switch_en = isAuxEnableSwitchEnabled();
+
+	// new control data needed every iteration
+	if ((_state == state::idle && !_aux_switch_en)
+	    || !_vehicle_torque_setpoint_sub.updated()) {
+
+		return;
+	}
+
 	if (_actuator_controls_status_sub.updated()) {
 		actuator_controls_status_s controls_status;