diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index ff1a8092be..517c77b872 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -110,8 +110,6 @@ else
 	fi
 fi
 
-#
-# Start sensors
-#
+# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
+usleep 20000
 sensors start
-
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 85cbdeb59e..8e7df42743 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -389,8 +389,6 @@ then
 	unset GPS_FAKE
 
 	# Needs to be this early for in-air-restarts
-	# Wait 10 ms for sensors (workaround for airspeed, to be removed)
-	usleep 10000
 	commander start
 
 	#