diff --git a/src/modules/airship_att_control/airship_att_control_main.cpp b/src/modules/airship_att_control/airship_att_control_main.cpp
index 2a18b349da..27f12b731f 100644
--- a/src/modules/airship_att_control/airship_att_control_main.cpp
+++ b/src/modules/airship_att_control/airship_att_control_main.cpp
@@ -126,8 +126,8 @@ AirshipAttitudeControl::Run()
 	if (_vehicle_angular_velocity_sub.update(&angular_velocity)) {
 
 		/* run the rate controller immediately after a gyro update */
-		publishTorqueSetpoint(angular_velocity.timestamp_sample);
 		publishThrustSetpoint(angular_velocity.timestamp_sample);
+		publishTorqueSetpoint(angular_velocity.timestamp_sample);
 
 		/* check for updates in manual control topic */
 		_manual_control_setpoint_sub.update(&_manual_control_setpoint);
diff --git a/src/modules/fw_rate_control/FixedwingRateControl.cpp b/src/modules/fw_rate_control/FixedwingRateControl.cpp
index 32ac785cda..d7de4e4741 100644
--- a/src/modules/fw_rate_control/FixedwingRateControl.cpp
+++ b/src/modules/fw_rate_control/FixedwingRateControl.cpp
@@ -44,8 +44,8 @@ FixedwingRateControl::FixedwingRateControl(bool vtol) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
 	_actuator_controls_status_pub(vtol ? ORB_ID(actuator_controls_status_1) : ORB_ID(actuator_controls_status_0)),
-	_vehicle_torque_setpoint_pub(vtol ? ORB_ID(vehicle_torque_setpoint_virtual_fw) : ORB_ID(vehicle_torque_setpoint)),
 	_vehicle_thrust_setpoint_pub(vtol ? ORB_ID(vehicle_thrust_setpoint_virtual_fw) : ORB_ID(vehicle_thrust_setpoint)),
+	_vehicle_torque_setpoint_pub(vtol ? ORB_ID(vehicle_torque_setpoint_virtual_fw) : ORB_ID(vehicle_torque_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
 	_handle_param_vt_fw_difthr_en = param_find("VT_FW_DIFTHR_EN");
diff --git a/src/modules/fw_rate_control/FixedwingRateControl.hpp b/src/modules/fw_rate_control/FixedwingRateControl.hpp
index ec3b7e1c9e..2d87e86d8a 100644
--- a/src/modules/fw_rate_control/FixedwingRateControl.hpp
+++ b/src/modules/fw_rate_control/FixedwingRateControl.hpp
@@ -116,8 +116,8 @@ private:
 	uORB::Publication<actuator_controls_status_s>	_actuator_controls_status_pub;
 	uORB::Publication<vehicle_rates_setpoint_s>	_rate_sp_pub{ORB_ID(vehicle_rates_setpoint)};
 	uORB::PublicationMulti<rate_ctrl_status_s>	_rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
-	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub;
 	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub;
+	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub;
 	uORB::Publication<normalized_unsigned_setpoint_s> _flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
 	uORB::Publication<normalized_unsigned_setpoint_s> _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
 
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index 3931125289..a7a8ed4212 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -46,8 +46,8 @@ using math::radians;
 MulticopterRateControl::MulticopterRateControl(bool vtol) :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
-	_vehicle_torque_setpoint_pub(vtol ? ORB_ID(vehicle_torque_setpoint_virtual_mc) : ORB_ID(vehicle_torque_setpoint)),
 	_vehicle_thrust_setpoint_pub(vtol ? ORB_ID(vehicle_thrust_setpoint_virtual_mc) : ORB_ID(vehicle_thrust_setpoint)),
+	_vehicle_torque_setpoint_pub(vtol ? ORB_ID(vehicle_torque_setpoint_virtual_mc) : ORB_ID(vehicle_torque_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
 	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.hpp b/src/modules/mc_rate_control/MulticopterRateControl.hpp
index 1a2427da18..76e488305a 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.hpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.hpp
@@ -107,8 +107,8 @@ private:
 	uORB::Publication<actuator_controls_status_s>	_actuator_controls_status_pub{ORB_ID(actuator_controls_status_0)};
 	uORB::PublicationMulti<rate_ctrl_status_s>	_controller_status_pub{ORB_ID(rate_ctrl_status)};
 	uORB::Publication<vehicle_rates_setpoint_s>	_vehicle_rates_setpoint_pub{ORB_ID(vehicle_rates_setpoint)};
-	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub;
 	uORB::Publication<vehicle_thrust_setpoint_s>	_vehicle_thrust_setpoint_pub;
+	uORB::Publication<vehicle_torque_setpoint_s>	_vehicle_torque_setpoint_pub;
 
 	vehicle_control_mode_s	_vehicle_control_mode{};
 	vehicle_status_s	_vehicle_status{};
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 353d236ce6..081c5a8106 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -81,8 +81,8 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_spoilers_setpoint_pub.advertise();
 	_vtol_vehicle_status_pub.advertise();
 	_vehicle_thrust_setpoint0_pub.advertise();
-	_vehicle_torque_setpoint0_pub.advertise();
 	_vehicle_thrust_setpoint1_pub.advertise();
+	_vehicle_torque_setpoint0_pub.advertise();
 	_vehicle_torque_setpoint1_pub.advertise();
 }
 
@@ -449,10 +449,10 @@ VtolAttitudeControl::Run()
 
 		_vtol_type->fill_actuator_outputs();
 
-		_vehicle_torque_setpoint0_pub.publish(_torque_setpoint_0);
-		_vehicle_torque_setpoint1_pub.publish(_torque_setpoint_1);
 		_vehicle_thrust_setpoint0_pub.publish(_thrust_setpoint_0);
 		_vehicle_thrust_setpoint1_pub.publish(_thrust_setpoint_1);
+		_vehicle_torque_setpoint0_pub.publish(_torque_setpoint_0);
+		_vehicle_torque_setpoint1_pub.publish(_torque_setpoint_1);
 
 		// Advertise/publish vtol vehicle status -- immediately if changed, otherwise at 1 Hz
 		const bool vtol_vehicle_status_changed =