diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index ffded7d6b9..b8a704b90f 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -115,9 +115,7 @@ then
 fi
 
 #
-# Start sensors -> preflight_check
+# Start sensors
 #
-if sensors start
-then
-	preflight_check &
-fi
+sensors start
+
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 2d3722f089..25a46c103f 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -301,6 +301,11 @@ then
 	then
 	fi
 
+	#
+	# Sensors System (start before Commander so Preflight checks are properly run)
+	#
+	sh /etc/init.d/rc.sensors
+
 	# Needs to be this early for in-air-restarts
 	commander start
 
@@ -467,9 +472,8 @@ then
 	sh /etc/init.d/rc.uavcan
 
 	#
-	# Sensors, Logging, GPS
+	# Logging, GPS
 	#
-	sh /etc/init.d/rc.sensors
 	sh /etc/init.d/rc.logging
 
 	if [ $GPS == yes ]