diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index e80abdc75b..d959df31bc 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -748,7 +748,6 @@ void EKF2::Run()
 
 		// push imu data into estimator
 		_ekf.setIMUData(imu_sample_new);
-		PublishAttitude(now); // publish attitude immediately (uses quaternion from output predictor)
 
 		// integrate time to monitor time slippage
 		if (_start_time_us > 0) {
@@ -855,6 +854,9 @@ void EKF2::Run()
 #endif // CONFIG_EKF2_MAGNETOMETER
 		}
 
+		PublishAttitude(now); // publish attitude immediately (uses quaternion from output predictor)
+
+
 		// publish ekf2_timestamps
 		_ekf2_timestamps_pub.publish(ekf2_timestamps);
 	}