diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 1f4cbf7692..06396cb821 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -1089,15 +1089,6 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 		prearm_ok = false;
 	}
 
-	// Arm Requirements: authorization
-	// check last, and only if everything else has passed
-	if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
-		if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
-			// feedback provided in arm_auth_check
-			prearm_ok = false;
-		}
-	}
-
 	if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
 		if (prearm_ok && reportFailures) {
 			mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready");
@@ -1114,6 +1105,15 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 		}
 	}
 
+	// Arm Requirements: authorization
+	// check last, and only if everything else has passed
+	if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
+		if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
+			// feedback provided in arm_auth_check
+			prearm_ok = false;
+		}
+	}
+
 
 	return prearm_ok;
 }