diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index a20f7c70b7d6..05b8592c2381 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -282,28 +282,6 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi
 
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if uavcan start
-		then
-			if param greater UAVCAN_ENABLE 2
-			then
-				set OUTPUT_MODE uavcan_esc
-			fi
-		else
-			tune_control play error
-		fi
-	else
-		if param greater -s UAVCAN_V1_ENABLE 0
-		then
-			uavcan_v1 start
-		fi
-	fi
-
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -556,6 +534,28 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if uavcan start
+		then
+			if param greater UAVCAN_ENABLE 2
+			then
+				set OUTPUT_MODE uavcan_esc
+			fi
+		else
+			tune_control play error
+		fi
+	else
+		if param greater -s UAVCAN_V1_ENABLE 0
+		then
+			uavcan_v1 start
+		fi
+	fi
+
 #
 # End of autostart.
 #