diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index f658eb56c2..ec856e942d 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -48,6 +48,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
 	/* fetch initial parameter values */
 	parameters_update();
 	_landing_gear_wheel_pub.advertise();
+	_attitude_sp_pub.advertise();
 }
 
 FixedwingAttitudeControl::~FixedwingAttitudeControl()
diff --git a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
index 9c5647f1a5..53005d8ba5 100644
--- a/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+++ b/src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
@@ -70,6 +70,7 @@ FwLateralLongitudinalControl::FwLateralLongitudinalControl(bool is_vtol) :
 	_attitude_sp_pub(is_vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
+	_attitude_sp_pub.advertise();
 	_tecs_status_pub.advertise();
 	_flight_phase_estimation_pub.advertise();
 	_fixed_wing_lateral_status_pub.advertise();