diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 8e7df42743..f14dd3015d 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -365,11 +365,6 @@ then
 	then
 	fi
 
-	#
-	# UAVCAN
-	#
-	sh /etc/init.d/rc.uavcan
-
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
@@ -576,6 +571,11 @@ then
 		fi
 	fi
 
+	#
+	# UAVCAN
+	#
+	sh /etc/init.d/rc.uavcan
+
 	#
 	# Logging
 	#